학술논문
Multi-Finger Grasping Like Humans
Document Type
Conference
Source
2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Intelligent Robots and Systems (IROS), 2022 IEEE/RSJ International Conference on. :1564-1570 Oct, 2022
Subject
Language
ISSN
2153-0866
Abstract
Robots with multi-fingered grippers could perform advanced manipulation tasks for us if we were able to properly specify to them what to do. In this study, we take a step in that direction by making a robot grasp an object like a grasping demonstration performed by a human. We propose a novel optimization-based approach for transferring human grasp demonstrations to any multi-fingered grippers, which produces robotic grasps that mimic the human hand orientation and the contact area with the object, while alleviating interpenetration. Extensive experiments with the Allegro and BarrettHand grippers show that our method leads to grasps more similar to the human demonstration than existing approaches, without requiring any gripper-specific tuning. We confirm these findings through a user study and validate the applicability of our approach on a real robot.