ログイン
言語:

WEKO3

  • トップ
  • ランキング
To
lat lon distance
To

Field does not validate



インデックスリンク

インデックスツリー

メールアドレスを入力してください。

WEKO

One fine body…

WEKO

One fine body…

アイテム

  1. 124 情報理工学系研究科
  2. 40 電子情報学専攻
  3. 1244025 修士論文(電子情報学専攻)
  1. 0 資料タイプ別
  2. 20 学位論文
  3. 025 修士論文

Dexterous Manipulation Planning from Human Demonstration

http://hdl.handle.net/2261/28049
http://hdl.handle.net/2261/28049
71ff7224-fb5f-44f5-9b3e-e8798a3e96c5
名前 / ファイル ライセンス アクション
vinayavekhin.pdf vinayavekhin.pdf (3.7 MB)
Item type 学位論文 / Thesis or Dissertation(1)
公開日 2011-08-08
タイトル
タイトル Dexterous Manipulation Planning from Human Demonstration
言語
言語 eng
資源タイプ
資源 http://purl.org/coar/resource_type/c_46ec
タイプ thesis
その他のタイトル
その他のタイトル 人による教示動作からの器用な操り操作の計画
著者 Vinayavekhin, Phongtharin

× Vinayavekhin, Phongtharin

WEKO 5664

Vinayavekhin, Phongtharin

Search repository
著者別名
識別子Scheme WEKO
識別子 5665
姓名 ビナヤウェキン, ポンタリン
著者所属
著者所属 情報理工学系研究科 電子情報学専攻
Abstract
内容記述タイプ Abstract
内容記述 In recent years, many multi-finger robotic hands have been designed and developed in order to emulate a human hand. The human hand has many sophisticated a lot of complicated dexterous skills that human themselves sometimes did not notice, for example an ability to grasp and manipulate tiny objects, a capability to regrasp an object without releasing and so on. To mimic or imitate these kind of dexterous skills to high degree-of-freedom mechanic hands, a planning is required and it is often referred as Dexterous Manipulation Planning (DMP)./ In this thesis, DMP is explored in context of learning object manipulation using programming by demonstration (PbD) framework. The idea of this paradigm to plan a dexterous manipulation by letting robot observes a stream of human demonstration. An advantage of PbD is that the planning discovered will also include human purpose in manipulation. This is corresponding to previous research which suggested that human has particular reasons on how they grasp or manipulate objects./ This thesis proposes a novel method to segment a stream of human manipulative movement. This is a preliminary step to plan and mimic dexterous manipulation ability to robot hands in a PbD framework. Human manipulative movement is observed by a data glove, which provides information of 18 joint angles of human hand. Then a highly dimensional joint space is reduced to a lower dimensional space using principle component analysis. A segmentation is done based on two assumptions: First, a contact relation between hand and object would change when a coordinative movement of all joint angles of the hand changes it direction. Second, a coordinative movement of all joint angles are an approximately linear line in a reduced dimensional joint space./ To test and apply the proposed method three manipulative movements of human is considered. Two of which are the repetition of same simultaneous movement. The other is more complex manipulation of a pen-like object called interdigital step. The results are compared and discussed with another previous research.
書誌情報 発行日 2009-04-01
日本十進分類法
主題Scheme NDC
主題 548
学位名
学位名 修士(情報理工学)
学位
値 master
研究科・専攻
情報理工学系研究科電子情報学専攻
学位授与年月日
学位授与年月日 2009-04-01
戻る
0
views
See details
Views

Versions

Ver.1 2021-03-02 08:13:47.083644
Show All versions

Share

Mendeley Twitter Facebook Print Addthis

Cite as

エクスポート

OAI-PMH
  • OAI-PMH JPCOAR 2.0
  • OAI-PMH JPCOAR 1.0
  • OAI-PMH DublinCore
  • OAI-PMH DDI
Other Formats
  • JSON
  • BIBTEX

Confirm


Powered by WEKO3


Powered by WEKO3