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This paper presents a novel approach to skill modeling acquired from human demonstration. The approach is based on fuzzy modeling and is using a planner for generating corresponding robot trajectories. One of the main challenges stems from the morphological differences between human and robot hand/arm structure, which makes direct copying of human motions impossible in the general case. Thus, the...
We present a system which includes an underactuated anthropomorphic hand and control algorithms for autonomous grasping of everyday objects. The system comprises a control framework for hybrid force/position control in simulation and reality, a grasp simulator, and an under-actuated robot hand equipped with tactile sensors. We start by presenting the robot hand, the simulation environment and the...
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