Hand-object interaction: from human demonstrations to robot manipulation
Human-object interaction is of great relevance for robots to operate in human environments. However, state-of-the-art robotic hands are far from replicating humans skills. It is, therefore, essential to study how humans use their hands to develop similar robotic capabilities. This article presents a...
| Autores: | , , , , , , , , , , , , , |
|---|---|
| Tipo de recurso: | artículo |
| Fecha de publicación: | 2021 |
| País: | España |
| Institución: | Universitat Politècnica de Catalunya (UPC) |
| Repositorio: | UPCommons. Portal del coneixement obert de la UPC |
| Idioma: | inglés |
| OAI Identifier: | oai:upcommons.upc.edu:2117/366126 |
| Acceso en línea: | https://hdl.handle.net/2117/366126 https://dx.doi.org/10.3389/frobt.2021.714023 |
| Access Level: | acceso abierto |
| Palabra clave: | Robotics Robots hand-object interaction learning from demonstration imitation learning transfer learning grasping manipulation anthropomorphic hands data extraction Robòtica Àrees temàtiques de la UPC::Informàtica::Intel·ligència artificial |
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Hand-object interaction: from human demonstrations to robot manipulationCarfi, AlessandroPatten, TimothyKuang, YingyiHammoud, AliAlameh, MohamadMaiettini, ElisaWeinberg, Abraham ItzhakFaria, DiegoMastrogiovanni, FulvioAlenyà Ribas, Guillem|||0000-0002-6018-154XNatale, LorenzoPerdereau, VeroniqueVincze, MarkusBillard, AudeRoboticsRobotshand-object interactionlearning from demonstrationimitation learningtransfer learninggraspingmanipulationanthropomorphic handsdata extractionRobòticaRobotsÀrees temàtiques de la UPC::Informàtica::Intel·ligència artificialHuman-object interaction is of great relevance for robots to operate in human environments. However, state-of-the-art robotic hands are far from replicating humans skills. It is, therefore, essential to study how humans use their hands to develop similar robotic capabilities. This article presents a deep dive into hand-object interaction and human demonstrations, highlighting the main challenges in this research area and suggesting desirable future developments. To this extent, the article presents a general definition of the hand-object interaction problem together with a concise review for each of the main subproblems involved, namely: sensing, perception, and learning. Furthermore, the article discusses the interplay between these subproblems and describes how their interaction in learning from demonstration contributes to the success of robot manipulation. In this way, the article provides a broad overview of the interdisciplinary approaches necessary for a robotic system to learn new manipulation skills by observing human behavior in the real world.This work is supported by the CHIST-ERA (2014-2020) project InDex and received funding from the Italian Ministry of Education and Research (MIUR), Austrian Science Fund (FWF) under grant agreement No. I3969-N30, Engineering and Physical Sciences Research Council (EPSRC-UK) with reference EP/S032355/1 and Agence Nationale de la Recherche (ANR) under grant agreement No. ANR-18-CHR3-0004. This work is also supported by the ERA-net CHIST-ERA project BURG (PCIN2019-103447).Peer ReviewedFrontiers Media SA20212021-10-0120222022-04-20journal articlehttp://purl.org/coar/resource_type/c_6501VoRhttp://purl.org/coar/version/c_970fb48d4fbd8a85info:eu-repo/semantics/articleapplication/pdfhttps://hdl.handle.net/2117/366126https://dx.doi.org/10.3389/frobt.2021.714023reponame:UPCommons. Portal del coneixement obert de la UPCinstname:Universitat Politècnica de Catalunya (UPC)Inglésengopen accesshttp://purl.org/coar/access_right/c_abf2Attribution 3.0 Spainhttp://creativecommons.org/licenses/by/3.0/es/info:eu-repo/semantics/openAccessoai:upcommons.upc.edu:2117/3661262026-05-27T15:37:01Z |
| dc.title.none.fl_str_mv |
Hand-object interaction: from human demonstrations to robot manipulation |
| title |
Hand-object interaction: from human demonstrations to robot manipulation |
| spellingShingle |
Hand-object interaction: from human demonstrations to robot manipulation Carfi, Alessandro Robotics Robots hand-object interaction learning from demonstration imitation learning transfer learning grasping manipulation anthropomorphic hands data extraction Robòtica Robots Àrees temàtiques de la UPC::Informàtica::Intel·ligència artificial |
| title_short |
Hand-object interaction: from human demonstrations to robot manipulation |
| title_full |
Hand-object interaction: from human demonstrations to robot manipulation |
| title_fullStr |
Hand-object interaction: from human demonstrations to robot manipulation |
| title_full_unstemmed |
Hand-object interaction: from human demonstrations to robot manipulation |
| title_sort |
Hand-object interaction: from human demonstrations to robot manipulation |
| dc.creator.none.fl_str_mv |
Carfi, Alessandro Patten, Timothy Kuang, Yingyi Hammoud, Ali Alameh, Mohamad Maiettini, Elisa Weinberg, Abraham Itzhak Faria, Diego Mastrogiovanni, Fulvio Alenyà Ribas, Guillem|||0000-0002-6018-154X Natale, Lorenzo Perdereau, Veronique Vincze, Markus Billard, Aude |
| author |
Carfi, Alessandro |
| author_facet |
Carfi, Alessandro Patten, Timothy Kuang, Yingyi Hammoud, Ali Alameh, Mohamad Maiettini, Elisa Weinberg, Abraham Itzhak Faria, Diego Mastrogiovanni, Fulvio Alenyà Ribas, Guillem|||0000-0002-6018-154X Natale, Lorenzo Perdereau, Veronique Vincze, Markus Billard, Aude |
| author_role |
author |
| author2 |
Patten, Timothy Kuang, Yingyi Hammoud, Ali Alameh, Mohamad Maiettini, Elisa Weinberg, Abraham Itzhak Faria, Diego Mastrogiovanni, Fulvio Alenyà Ribas, Guillem|||0000-0002-6018-154X Natale, Lorenzo Perdereau, Veronique Vincze, Markus Billard, Aude |
| author2_role |
author author author author author author author author author author author author author |
| dc.subject.none.fl_str_mv |
Robotics Robots hand-object interaction learning from demonstration imitation learning transfer learning grasping manipulation anthropomorphic hands data extraction Robòtica Robots Àrees temàtiques de la UPC::Informàtica::Intel·ligència artificial |
| topic |
Robotics Robots hand-object interaction learning from demonstration imitation learning transfer learning grasping manipulation anthropomorphic hands data extraction Robòtica Robots Àrees temàtiques de la UPC::Informàtica::Intel·ligència artificial |
| description |
Human-object interaction is of great relevance for robots to operate in human environments. However, state-of-the-art robotic hands are far from replicating humans skills. It is, therefore, essential to study how humans use their hands to develop similar robotic capabilities. This article presents a deep dive into hand-object interaction and human demonstrations, highlighting the main challenges in this research area and suggesting desirable future developments. To this extent, the article presents a general definition of the hand-object interaction problem together with a concise review for each of the main subproblems involved, namely: sensing, perception, and learning. Furthermore, the article discusses the interplay between these subproblems and describes how their interaction in learning from demonstration contributes to the success of robot manipulation. In this way, the article provides a broad overview of the interdisciplinary approaches necessary for a robotic system to learn new manipulation skills by observing human behavior in the real world. |
| publishDate |
2021 |
| dc.date.none.fl_str_mv |
2021 2021-10-01 2022 2022-04-20 |
| dc.type.none.fl_str_mv |
journal article http://purl.org/coar/resource_type/c_6501 VoR http://purl.org/coar/version/c_970fb48d4fbd8a85 |
| dc.type.openaire.fl_str_mv |
info:eu-repo/semantics/article |
| format |
article |
| dc.identifier.none.fl_str_mv |
https://hdl.handle.net/2117/366126 https://dx.doi.org/10.3389/frobt.2021.714023 |
| url |
https://hdl.handle.net/2117/366126 https://dx.doi.org/10.3389/frobt.2021.714023 |
| dc.language.none.fl_str_mv |
Inglés eng |
| language_invalid_str_mv |
Inglés |
| language |
eng |
| dc.rights.none.fl_str_mv |
open access http://purl.org/coar/access_right/c_abf2 Attribution 3.0 Spain http://creativecommons.org/licenses/by/3.0/es/ |
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info:eu-repo/semantics/openAccess |
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open access http://purl.org/coar/access_right/c_abf2 Attribution 3.0 Spain http://creativecommons.org/licenses/by/3.0/es/ |
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openAccess |
| dc.format.none.fl_str_mv |
application/pdf |
| dc.publisher.none.fl_str_mv |
Frontiers Media SA |
| publisher.none.fl_str_mv |
Frontiers Media SA |
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reponame:UPCommons. Portal del coneixement obert de la UPC instname:Universitat Politècnica de Catalunya (UPC) |
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Universitat Politècnica de Catalunya (UPC) |
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UPCommons. Portal del coneixement obert de la UPC |
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UPCommons. Portal del coneixement obert de la UPC |
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15,300724 |