Learning to grasp with parental scaffolding

Name: Learning to grasp with parental scaffolding
Author: Ugur, E., Celikkanat, H., Şahin, E., Nagai, Y., Öztop, Erhan

İsim	Learning to grasp with parental scaffolding
Yazar	Ugur, E., Celikkanat, H., Şahin, E., Nagai, Y., Öztop, Erhan
Basım Tarihi:	2011
Basım Yeri	- IEEE
Konu	Robot sensing systems, Humans, Robot kinematics, Force, Joints, Grasping
Tür	Belge
Dil	İngilizce
Dijital	Evet
Yazma	Hayır
Kütüphane:	Özyeğin Üniversitesi
Demirbaş Numarası	978-1-61284-868-6
Kayıt Numarası	f16c1d49-857c-4084-bc65-f8b2f83f67e5
Lokasyon	Computer Science
Tarih	2011
Notlar	Due to copyright restrictions, the access to the full text of this article is only available via subscription.
Örnek Metin	Parental scaffolding is an important mechanism utilized by infants during their development. Infants, for example, pay stronger attention to the features of objects highlighted by parents and learn the way of manipulating an object while being supported by parents. In this paper, a robot with the basic ability of reaching for an object, closing fingers and lifting its hand lacks knowledge of which parts of the object affords grasping, and in which hand orientation should the object be grasped. During reach and grasp attempts, the movement of the robot hand is modified by the human caregiver's physical interaction to enable successful grasping. The object regions that the robot fingers contact first are detected and stored as potential graspable object regions along with the trajectory of the hand. In the experiments, we showed that although the human caregiver did not directly show the graspable regions, the robot was able to find regions such as handles of the mugs after its action execution was partially guided by the human. Later, this experience was used to find graspable regions of never seen objects. At the end, the robot was able to grasp objects based on the position of the graspable part and stored action execution trajectories.
DOI	10.1109/Humanoids.2011.6100890

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Learning to grasp with parental scaffolding

Yazar Ugur, E., Celikkanat, H., Şahin, E., Nagai, Y., Öztop, Erhan

Basım Tarihi 2011

Basım Yeri - IEEE

Konu Robot sensing systems, Humans, Robot kinematics, Force, Joints, Grasping

Tür Belge

Dil İngilizce

Dijital Evet

Yazma Hayır

Kütüphane Özyeğin Üniversitesi

Demirbaş Numarası 978-1-61284-868-6

Kayıt Numarası f16c1d49-857c-4084-bc65-f8b2f83f67e5

Lokasyon Computer Science

Tarih 2011

Notlar Due to copyright restrictions, the access to the full text of this article is only available via subscription.

Örnek Metin Parental scaffolding is an important mechanism utilized by infants during their development. Infants, for example, pay stronger attention to the features of objects highlighted by parents and learn the way of manipulating an object while being supported by parents. In this paper, a robot with the basic ability of reaching for an object, closing fingers and lifting its hand lacks knowledge of which parts of the object affords grasping, and in which hand orientation should the object be grasped. During reach and grasp attempts, the movement of the robot hand is modified by the human caregiver's physical interaction to enable successful grasping. The object regions that the robot fingers contact first are detected and stored as potential graspable object regions along with the trajectory of the hand. In the experiments, we showed that although the human caregiver did not directly show the graspable regions, the robot was able to find regions such as handles of the mugs after its action execution was partially guided by the human. Later, this experience was used to find graspable regions of never seen objects. At the end, the robot was able to grasp objects based on the position of the graspable part and stored action execution trajectories.

DOI 10.1109/Humanoids.2011.6100890