A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2019; you can also visit the original URL.
The file type is application/pdf
.
Human-in-the-loop optimisation: mixed initiative grasping for optimally facilitating post-grasp manipulative actions
[article]
2017
arXiv
pre-print
This paper addresses the problem of mixed initiative, shared control for master-slave grasping and manipulation. We propose a novel system, in which an autonomous agent assists a human in teleoperating a remote slave arm/gripper, using a haptic master device. Our system is designed to exploit the human operator's expertise in selecting stable grasps (still an open research topic in autonomous robotics). Meanwhile, a-priori knowledge of: i) the slave robot kinematics, and ii) the desired
arXiv:1707.08147v1
fatcat:zfoajiaemjbgdprpkhhbrqdma4