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To appropriately assist mobile robot teleoperation within a shared autonomy system for remote task executions, this paper reports a novel approach to recognize the contextual task the human operator performs, by employing Sparse Online Gaussian Process to learn and classify human motion patterns executing various task types from demonstrations, due to its superior introspective capability over other...
If the manipulation task information is available at the time of planning, such as forces and torques that a grasp should apply onto the object, grasps more suitable for the task can be found. In this paper, we propose a ray-shooting based algorithm, which computes the quality of a grasp for performing given forces and torques. The method can deal with both force-closure grasps and non force-closure...
Grasp planning for multifingered robotic hand is still time consuming. The crucial part is to find the contact points with collision detection techniques to evaluate the grasp quality and to guarantee that the hand does not collide with other objects. Our methods to accelerate the collision detection for grasp planning are presented in this paper. Grasping is performed in two steps: hand moving and...
Automatically grasp planning for dexterous hand with a large number of degrees of freedom (DOF) is still a challenging problem. Two groups of grasp quality measurements can be considered: one associated with the position of contact points and the other associated with the hand configuration. In this paper, we propose a novel approach to bridge the gap between the two grasp quality measurements by...
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