Transferring Object Grasping Knowledge and Skill Across Different Robotic Platforms

被引：0

作者：

Paikan, Ali ^{[1
]}

Schiebener, David ^{[2
]}

Waechter, Mirko ^{[2
]}

Asfour, Tamim ^{[2
]}

Metta, Giorgio ^{[1
]}

Natale, Lorenzo ^{[1
]}

机构：

[1] IIT, iCub Facil, Genoa, Italy

[2] KIT, Lab H2T, Karlsruhe, Germany

来源：

PROCEEDINGS OF THE 17TH INTERNATIONAL CONFERENCE ON ADVANCED ROBOTICS (ICAR) | 2015年

关键词：

D O I：

暂无

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

This study describes the transfer of object grasping skills between two different humanoid robots with different software frameworks. We realize such a knowledge and skill transfer between the humanoid robots iCub and ARMAR-III. These two robots have different kinematics and are programmed using different middlewares, YARP and ArmarX. We developed a bridge system to allow for the execution of grasping skills of ARMAR-III on iCub. As the embodiment differs, the known feasible grasps for the one robot are not always feasible for the other robot. We propose a reactive correction behavior to detect failure of a grasp during its execution, to correct it until it is successful, and thus adapt the known grasp definition to the new embodiment.

引用

页码：498 / 503

页数：6

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