| 1. |
- Bekiroglu, Yasemin, 1982, et al.
(författare)
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Learning grasp stability with tactile data and HMMs
- 2010
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Ingår i: IEEE International Symposium on Robot and Human Interactive Communication. - 1944-9437 .- 1944-9445. ; , s. 132-137
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Konferensbidrag (refereegranskat)abstract
- In this paper, the problem of learning grasp stability in robotic object grasping based on tactile measurements is studied. Although grasp stability modeling and estimation has been studied for a long time, there are few robots today able of demonstrating extensive grasping skills. The main contribution of the work presented here is an investigation of probabilistic modeling for inferring grasp stability based on learning from examples. The main objective is classification of a grasp as stable or unstable before applying further actions on it, e.g. lifting. The problem cannot be solved by visual sensing which is typically used to execute an initial robot hand positioning with respect to the object. The output of the classification system can trigger a regrasping step if an unstable grasp is identified. An off-line learning process is implemented and used for reasoning about grasp stability for a three-fingered robotic hand using Hidden Markov models. To evaluate the proposed method, experiments are performed both in simulation and on a real robot system.
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| 2. |
- Frennert, Susanne, PhD, et al.
(författare)
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Using attention cards to facilitate active participation in eliciting old adults' requirements for assistive robots
- 2013
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Ingår i: IEEE International Workshop on Robot and Human Interactive Communication. - : IEEE conference proceedings. - 9781479905072 ; , s. 774-779, s. 774-779
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Konferensbidrag (refereegranskat)abstract
- Engaging old users in the exploration of future product concepts can be challenging. It is of great value to find ways to actively involve them in the design of novel technologies intended for them, particularly when they have no prior experience of the technology in question. One obstacle in this process is that many old people do not identify themselves as being old or they think that it (the technology) would be good for others but not themselves. This paper presents a card method to overcome this obstacle. A full-day workshop with three internal focus groups was run with 14 participants. Based on our experience, we propose a way in which active participation in the process of eliciting user requirements for assistive robots from old users with no prior experience of assistive robots can be carried out.
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