2P2-J11 Using Range-Color Data to Extract Human Hand Pose and Contact Points for Implementation of Robot Grasp Action(Humanoid)

Tien Cuong KIEU, Ryohei UEDA, Youhei KAKIUCHI, Kimitoshi YAMAZAKI, Kei OKADA, Masayuki INABA
2011 The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  
We clesign system that makes it easier to program grasp action involving humaneid robot and manipulable object through motion capture. Using data from range camera and slereo camera mounted on the robot allows the system to extract human hand pose and contact points between human hand and manipulable object. This information is used to synthesize the robot motion doing the same task as human do. Kb.v wotTts: hand pose classification. grasp action. stereo, range data
doi:10.1299/jsmermd.2011._2p2-j11_1 fatcat:u5twnwi2kbdz7h7hqofsr6rsiu