Graduate Thesis Or Dissertation
 

Advancing Robotic Grasp Planning using Human Heuristics for Grasp Similarity

Public Deposited

Contenu téléchargeable

Télécharger le fichier PDF
https://ir.library.oregonstate.edu/concern/graduate_thesis_or_dissertations/37720j09c

Descriptions

Attribute NameValues
Creator
Abstract
  • This thesis explores the use of human kinesthetic input to advance robotic grasp planning. It specifically focuses on identification of human heuristics of grasp similarity by extensive human-subject experiments. This heuristic is then utilized to develop a robust metric for identifying similar robotic grasps. The central hypothesis of this work is to speed up grasp planning and improve the reliability of the planned grasps by using the human heuristic for grasp similarity. Experimental results show that (i) new similar grasps generated from interpolation of human-provided grasps have similar performance (93.75% success rate) compared to original human grasps (97% success rate) and (ii) grasps with similar hand configurations are functionally similar when applied to large regions of everyday objects, but functionally similar grasp does not necessarily dictate similar hand configuration.
License
Resource Type
Date Available
Date Issued
Degree Level
Degree Name
Degree Field
Degree Grantor
Commencement Year
Advisor
Committee Member
Academic Affiliation
Non-Academic Affiliation
Subject
Déclaration de droits
Publisher
Peer Reviewed
Language
Replaces

Des relations

Parents:

This work has no parents.

Dans Collection:

Articles

La vignette Titre Date de téléchargement Visibilité actes
file details DixitSaurabhM2017.pdf 2017-10-27 Public Télécharger