Hand-Object Interaction: From Human Demonstrations to Robot Manipulation

Autor: Alessandro Carfì, Timothy Patten, Yingyi Kuang, Ali Hammoud, Mohamad Alameh, Elisa Maiettini, Abraham Itzhak Weinberg, Diego Faria, Fulvio Mastrogiovanni, Guillem Alenyà, Lorenzo Natale, Véronique Perdereau, Markus Vincze, Aude Billard

Publikováno v: Frontiers in Robotics and AI, Vol 8 (2021)

Human-object interaction is of great relevance for robots to operate in human environments. However, state-of-the-art robotic hands are far from replicating humans skills. It is, therefore, essential to study how humans use their hands to develop sim

Externí odkaz: https://doaj.org/article/6ce08779ca0f46149cd5667b58fc6dd4

Hand-Object Interaction: From Human Demonstrations to Robot Manipulation

Autor: Guillem Alenyà, Abraham Itzhak Weinberg, Markus Vincze, Timothy Patten, Yingyi Kuang, Elisa Maiettini, Alessandro Carfì, Mohamad Alameh, Aude Billard, Lorenzo Natale, Ali Hammoud, Véronique Perdereau, Fulvio Mastrogiovanni, Diego R. Faria

Publikováno v: Frontiers in Robotics and AI, Vol 8 (2021)
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Frontiers in Robotics and AI
Frontiers in Robotics and AI, Frontiers Media S.A., 2021, 8, ⟨10.3389/frobt.2021.714023⟩

Human-object interaction is of great relevance for robots to operate in human environments. However, state-of-the-art robotic hands are far from replicating humans skills. It is, therefore, essential to study how humans use their hands to develop sim

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_dedup___::9a78e3ebc9d96fe646fd167a5f9a7f23
https://www.frontiersin.org/articles/10.3389/frobt.2021.714023/full

Touch driven controller and tactile features for physical interactions

Autor: Véronique Perdereau, J. A. Corrales, Zhanat Kappassov

Publikováno v: Robotics and Autonomous Systems
Robotics and Autonomous Systems, Elsevier, 2020, 123, pp.103332. ⟨10.1016/j.robot.2019.103332⟩
Robotics and Autonomous Systems, 2020, 123, pp.103332. ⟨10.1016/j.robot.2019.103332⟩

International audience; We propose an approach that considers controlling contact between a robot and the environment during physical interactions. Current physical interaction control approaches are limited in terms of the range of tasks that can be

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_dedup___::c7ca3ebb5186bd8e6db87d60af3ef6d3
https://hal.uca.fr/hal-02335723

Human–Human Handover Tasks and How Distance and Object Mass Matter

Autor: Frédéric Marin, Véronique Perdereau, Paula Arambel, Clint Hansen, Khalil Ben Mansour

Publikováno v: Perceptual and Motor Skills. 124:182-199

We investigated the coordination between two individuals during object handovers. Ten participants (eight males, two females; 26.0 ± 5.0 years, 72.7 ± 13.5 kg, 1.73 ± 0.8 m) arranged in pairs (a giver and a receiver), passed an object from the giv

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_dedup___::4210768d68b845b56a65c4f4902cd37e
https://doi.org/10.1177/0031512516682668

Set-point control of robot end-effector pose using dual quaternion feedback

Autor: Bruno Vilhena Adorno, Véronique Perdereau, Philippe Fraisse, Hoang-Lan Pham

Publikováno v: Robotics and Computer-Integrated Manufacturing
Robotics and Computer-Integrated Manufacturing, Elsevier, 2018, 52, pp.100-110. ⟨10.1016/j.rcim.2017.11.003⟩

International audience; This paper proposes an easy-to-implement set-point control of robot end-effector pose using dual quaternion representation. A dual quaternion error invariant to the choice of the reference coordinate system is defined and the

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_dedup___::0043f72d91b6c953d3cdad9d8186d8c1
https://hal-lirmm.ccsd.cnrs.fr/lirmm-02062621