Object - Action abstraction for teleoperation

Sigal Berman, Jason Friedman, Tamar Flash

Research output: Contribution to journalConference articlepeer-review

Abstract

In telerobotic systems human actions are mapped to robot actions. In an illustrative object manipulation experiment various human grasps were translated to configurationally similar robotic grasps. The experiment's results highlight the problems and suboptimal performance incurred when such a resemblance is maintained. A new approach to telerobotics based on the construction of object-action pairs is presented. Actions are identified in the context of the object they are being performed on according to features extracted from the human grasp and transport motion. A priori knowledge is introduced to the robot controller using object centered programming and a relational database.

Original languageEnglish
Pages (from-to)2631-2636
Number of pages6
JournalConference Proceedings - IEEE International Conference on Systems, Man and Cybernetics
Volume3
StatePublished - 2005
Externally publishedYes
EventIEEE Systems, Man and Cybernetics Society, Proceedings - 2005 International Conference on Systems, Man and Cybernetics - Waikoloa, HI, United States
Duration: 10 Oct 200512 Oct 2005

Keywords

  • Grasp
  • Hand
  • Human
  • Manipulation
  • Telerobotics

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