abstract

Vision-based Aided-Grasping in Teleoperation with Multiple Unknown Objects

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Jung KimAuthors Info & Claims

HRI '20: Companion of the 2020 ACM/IEEE International Conference on Human-Robot Interaction

Pages 293 - 295

https://doi.org/10.1145/3371382.3378321

Published: 01 April 2020 Publication History

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Abstract

Grasping an object in the scene with multiple unknown objects requires both the knowledge of which object to be the target and the planning of grasping pose. However, teleoperating a robot hand to find a proper grasping pose in an unstructured environment is often too complicated and time-consuming to perform. In this study, we propose an aided-grasping algorithm which autonomously corrects the pose of a robot hand using an eye-in-hand camera. We used multiple cameras for a natural vision-based teleoperation interface with an aided-grasping algorithm. Experiments with objects placed in arbitrary positions and angles have shown a successful implementation of the algorithm.

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Cited By

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Johansen SDonovan JRittenbruch MCastellano GRiek LCakmak MLeite I(2023)Illustrating Robot MovementsProceedings of the 2023 ACM/IEEE International Conference on Human-Robot Interaction10.1145/3568162.3576956(231-242)Online publication date: 13-Mar-2023
https://dl.acm.org/doi/10.1145/3568162.3576956
Young SLanciloti RPeschel J(2021)The Effects of Interface Views on Performing Aerial Telemanipulation Tasks Using Small UAVsInternational Journal of Social Robotics10.1007/s12369-021-00783-914:1(213-228)Online publication date: 8-Apr-2021
https://doi.org/10.1007/s12369-021-00783-9

Index Terms

Vision-based Aided-Grasping in Teleoperation with Multiple Unknown Objects
1. Human-centered computing
  1. Human computer interaction (HCI)
    1. Interactive systems and tools
      1. User interface programming

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Information

Published In

HRI '20: Companion of the 2020 ACM/IEEE International Conference on Human-Robot Interaction

March 2020

702 pages

ISBN:9781450370578

DOI:10.1145/3371382

General Chairs:
Tony Belpaeme
Ghent University, Belgium
,
James Young
University of Manitoba, Canada
,
Program Chairs:
Hatice Gunes
University of Cambridge, UK
,
Laurel Riek
UC San Diego, USA

Permission to make digital or hard copies of part or all of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for third-party components of this work must be honored. For all other uses, contact the Owner/Author.

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Association for Computing Machinery

New York, NY, United States

Publication History

Published: 01 April 2020

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Korea Institute of Machinery and Materials

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HRI '20

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HRI '20: ACM/IEEE International Conference on Human-Robot Interaction

March 23 - 26, 2020

Cambridge, United Kingdom

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Overall Acceptance Rate 192 of 519 submissions, 37%

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Cited By

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Johansen SDonovan JRittenbruch MCastellano GRiek LCakmak MLeite I(2023)Illustrating Robot MovementsProceedings of the 2023 ACM/IEEE International Conference on Human-Robot Interaction10.1145/3568162.3576956(231-242)Online publication date: 13-Mar-2023
https://dl.acm.org/doi/10.1145/3568162.3576956
Young SLanciloti RPeschel J(2021)The Effects of Interface Views on Performing Aerial Telemanipulation Tasks Using Small UAVsInternational Journal of Social Robotics10.1007/s12369-021-00783-914:1(213-228)Online publication date: 8-Apr-2021
https://doi.org/10.1007/s12369-021-00783-9

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Recommendations

Grasping of Static and Moving Objects Using a Vision-Based Control Approach

Grasping of static and moving objects using a vision-based control approach

Autonomous vision-guided bi-manual grasping and manipulation