人間の実演における把持物体の回転滑り認識
Recognizing Orientation Slip in Human Demonstrations
人間が制約物体を操作する際に生じる、把持したまま物体が回転する「配向スリップ」を、エンドエフェクタの観測のみから検出・モデル化する手法を提案した。
著者: Michael Hagenow, Bolun Zhang, Bilge Mutlu, Michael Gleicher, Michael Zinn
分類: cs.RO
原文アブストラクト
Manipulations of a constrained object often use a non-rigid grasp that allows the object to rotate relative to the end effector. This orientation slip strategy is often present in natural human demonstrations, yet it is generally overlooked in methods to identify constraints from such demonstrations. In this paper, we present a method to model and recognize prehensile orientation slip in human demonstrations of constrained interactions. Using only observations of an end effector, we can detect the type of constraint, parameters of the constraint, and orientation slip properties. Our method uses a novel hierarchical model selection method that is informed by multiple origins of physics-based evidence. A study with eight participants shows that orientation slip occurs in natural demonstrations and confirms that it can be detected by our method.
