Teaching grasping points using natural movements

A common strategy to teach a robot certain skills involves demonstration. While the demonstrations are best made by directly manipulating the robot, in hazardous conditions the only choice is teleoperation. Even though haptic devices offer fairly good results, using natural movements would give a be...

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Detalles Bibliográficos
Autores: Isleyici, Yalim, Alenyà Ribas, Guillem|||0000-0002-6018-154X
Tipo de recurso: informe técnico
Fecha de publicación:2014
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:2117/27630
Acceso en línea:https://hdl.handle.net/2117/27630
Access Level:acceso abierto
Palabra clave:manipulators
robot programming
Classificació INSPEC::Automation::Robots::Robot programming
Àrees temàtiques de la UPC::Informàtica::Robòtica
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spelling Teaching grasping points using natural movementsIsleyici, YalimAlenyà Ribas, Guillem|||0000-0002-6018-154Xmanipulatorsrobot programmingClassificació INSPEC::Automation::Robots::Robot programmingÀrees temàtiques de la UPC::Informàtica::RobòticaA common strategy to teach a robot certain skills involves demonstration. While the demonstrations are best made by directly manipulating the robot, in hazardous conditions the only choice is teleoperation. Even though haptic devices offer fairly good results, using natural movements would give a better feeling of control. Leap Motion sensor (Leap Motion Inc., USA) is a device that detects hands and it can be used to control the robot arm in a more natural way. In this work, a system that will control the WAM arm (Barret Technology Inc., USA) using the Leap Motion sensor will be explained. Later this system will be tested in order to grasp a polo shirt which will be used to train grasping points on the shirt.20142014-01-0120152015-04-28reporthttp://purl.org/coar/resource_type/c_93fcAOhttp://purl.org/coar/version/c_b1a7d7d4d402bcceinfo:eu-repo/semantics/reportapplication/pdfhttps://hdl.handle.net/2117/27630reponame:UPCommons. Portal del coneixement obert de la UPCinstname:Universitat Politècnica de Catalunya (UPC)Inglésengopen accesshttp://purl.org/coar/access_right/c_abf2Attribution-NonCommercial-NoDerivs 3.0 Spainhttp://creativecommons.org/licenses/by-nc-nd/3.0/es/info:eu-repo/semantics/openAccessoai:upcommons.upc.edu:2117/276302026-05-27T15:37:01Z
dc.title.none.fl_str_mv Teaching grasping points using natural movements
title Teaching grasping points using natural movements
spellingShingle Teaching grasping points using natural movements
Isleyici, Yalim
manipulators
robot programming
Classificació INSPEC::Automation::Robots::Robot programming
Àrees temàtiques de la UPC::Informàtica::Robòtica
title_short Teaching grasping points using natural movements
title_full Teaching grasping points using natural movements
title_fullStr Teaching grasping points using natural movements
title_full_unstemmed Teaching grasping points using natural movements
title_sort Teaching grasping points using natural movements
dc.creator.none.fl_str_mv Isleyici, Yalim
Alenyà Ribas, Guillem|||0000-0002-6018-154X
author Isleyici, Yalim
author_facet Isleyici, Yalim
Alenyà Ribas, Guillem|||0000-0002-6018-154X
author_role author
author2 Alenyà Ribas, Guillem|||0000-0002-6018-154X
author2_role author
dc.subject.none.fl_str_mv manipulators
robot programming
Classificació INSPEC::Automation::Robots::Robot programming
Àrees temàtiques de la UPC::Informàtica::Robòtica
topic manipulators
robot programming
Classificació INSPEC::Automation::Robots::Robot programming
Àrees temàtiques de la UPC::Informàtica::Robòtica
description A common strategy to teach a robot certain skills involves demonstration. While the demonstrations are best made by directly manipulating the robot, in hazardous conditions the only choice is teleoperation. Even though haptic devices offer fairly good results, using natural movements would give a better feeling of control. Leap Motion sensor (Leap Motion Inc., USA) is a device that detects hands and it can be used to control the robot arm in a more natural way. In this work, a system that will control the WAM arm (Barret Technology Inc., USA) using the Leap Motion sensor will be explained. Later this system will be tested in order to grasp a polo shirt which will be used to train grasping points on the shirt.
publishDate 2014
dc.date.none.fl_str_mv 2014
2014-01-01
2015
2015-04-28
dc.type.none.fl_str_mv report
http://purl.org/coar/resource_type/c_93fc
AO
http://purl.org/coar/version/c_b1a7d7d4d402bcce
dc.type.openaire.fl_str_mv info:eu-repo/semantics/report
format report
dc.identifier.none.fl_str_mv https://hdl.handle.net/2117/27630
url https://hdl.handle.net/2117/27630
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-NonCommercial-NoDerivs 3.0 Spain
http://creativecommons.org/licenses/by-nc-nd/3.0/es/
dc.rights.openaire.fl_str_mv info:eu-repo/semantics/openAccess
rights_invalid_str_mv open access
http://purl.org/coar/access_right/c_abf2
Attribution-NonCommercial-NoDerivs 3.0 Spain
http://creativecommons.org/licenses/by-nc-nd/3.0/es/
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
dc.source.none.fl_str_mv reponame:UPCommons. Portal del coneixement obert de la UPC
instname:Universitat Politècnica de Catalunya (UPC)
instname_str Universitat Politècnica de Catalunya (UPC)
reponame_str UPCommons. Portal del coneixement obert de la UPC
collection UPCommons. Portal del coneixement obert de la UPC
repository.name.fl_str_mv
repository.mail.fl_str_mv
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