接触転送：人間からロボットへの把持・操作の直接的なユーザー駆動型転送手法
Contact Transfer: A Direct, User-Driven Method for Human to Robot Transfer of Grasps and Manipulations
接触領域を用いて物体と手の間の把持・操作を直接転送する手法を提案し、形状保持やユーザー制御を可能にしつつ、数秒で運動学的に実現可能な手の姿勢を合成できることを示した。
著者: Arjun Lakshmipathy, Dominik Bauer, Cornelia Bauer, Nancy S. Pollard
分類: cs.RO
原文アブストラクト
We present a novel method for the direct transfer of grasps and manipulations between objects and hands through utilization of contact areas. Our method fully preserves contact shapes, and in contrast to existing techniques, is not dependent on grasp families, requires no model training or grasp sampling, makes no assumptions about manipulator morphology or kinematics, and allows user control over both transfer parameters and solution optimization. Despite these accommodations, we show that our method is capable of synthesizing kinematically feasible whole hand poses in seconds even for poor initializations or hard to reach contacts. We additionally highlight the method's benefits in both response to design alterations as well as fast approximation over in-hand manipulation sequences. Finally, we demonstrate a solution generated by our method on a physical, custom designed prosthetic hand.
