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Generalization of human grasping for multi-fingered robot hands

Heni Ben Amor; Oliver Kroemer; Ulrich Hillenbrand; Gerhard Neumann; Jan Peters
In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS-2012), October 7-12, Portugal, Pages 2043-2050, IEEE, 2012.


Multi-fingered robot grasping is a challenging problem that is difficult to tackle using hand-coded programs. In this paper we present an imitation learning approach for learning and generalizing grasping skills based on human demonstrations. To this end, we split the task of synthesizing a grasping motion into three parts: (1) learning efficient grasp representations from human demonstrations, (2) warping contact points onto new objects, and (3) optimizing and executing the reach-and-grasp movements. We learn low-dimensional latent grasp spaces for different grasp types, which form the basis for a novel extension to dynamic motor primitives. These latent-space dynamic motor primitives are used to synthesize entire reach-and-grasp movements. We evaluated our method on a real humanoid robot. The results of the experiment demonstrate the robustness and versatility of our approach.

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