scholarly journals DemoGrasp: Few-Shot Learning for Robotic Grasping with Human Demonstration

2021 ◽  
Author(s):  
Pengyuan Wang ◽  
Fabian Manhardt ◽  
Luca Minciullo ◽  
Lorenzo Garattoni ◽  
Sven Meier ◽  
...  
Keyword(s):  
Robotic Grasping ◽  
Human Demonstration

Quality Assessment of Robotic Grasping Using Machine Regularized Leaning Algorithms

2020 ◽  
pp. 1-1 ◽  
Author(s):  
Rami Alkhatib ◽  
Wajih Mechlawi ◽  
Rabab Kawtharani
Keyword(s):  
Quality Assessment ◽  
Robotic Grasping

Robotic grasping: from wrench space heuristics to deep learning policies

2021 ◽  
Vol 71 ◽  
pp. 102176
Author(s):  
João Pedro Carvalho de Souza ◽  
Luís F. Rocha ◽  
Paulo Moura Oliveira ◽  
A. Paulo Moreira ◽  
José Boaventura-Cunha
Keyword(s):  
Deep Learning ◽  
Robotic Grasping ◽  
Learning Policies

scholarly journals A robotic grasping approach with elliptical cone-based potential fields under disturbed scenes

2021 ◽  
Vol 18 (1) ◽  
pp. 172988142098573
Author(s):  
Wenjie Geng ◽  
Zhiqiang Cao ◽  
Zhonghui Li ◽  
Yingying Yu ◽  
Fengshui Jing ◽  
...  
Keyword(s):  
Principal Component ◽  
Major Axis ◽  
Target Object ◽  
Potential Fields ◽  
Single Shot ◽  
Robotic Grasping ◽  
Vertical Projection ◽  
Convex Curves ◽  
Functional Representation ◽  
Continuous Potential

Vision-based grasping plays an important role in the robot providing better services. It is still challenging under disturbed scenes, where the target object cannot be directly grasped constrained by the interferences from other objects. In this article, a robotic grasping approach with firstly moving the interference objects is proposed based on elliptical cone-based potential fields. Single-shot multibox detector (SSD) is adopted to detect objects, and considering the scene complexity, Euclidean cluster is also employed to obtain the objects without being trained by SSD. And then, we acquire the vertical projection of the point cloud for each object. Considering that different objects have different shapes with respective orientation, the vertical projection is executed along its major axis acquired by the principal component analysis. On this basis, the minimum projected envelope rectangle of each object is obtained. To construct continuous potential field functions, an elliptical-based functional representation is introduced due to the better matching degree of the ellipse with the envelope rectangle among continuous closed convex curves. Guided by the design principles, including continuity, same-eccentricity equivalence, and monotonicity, the potential fields based on elliptical cone are designed. The current interference object to be grasped generates an attractive field, whereas other objects correspond to repulsive ones, and their resultant field is used to solve the best placement of the current interference object. The effectiveness of the proposed approach is verified by experiments.

scholarly journals DROID: Minimizing the Reality Gap Using Single-Shot Human Demonstration

2021 ◽  
Vol 6 (2) ◽  
pp. 3168-3175
Author(s):  
Ya-Yen Tsai ◽  
Hui Xu ◽  
Zihan Ding ◽  
Chong Zhang ◽  
Edward Johns ◽  
...  
Keyword(s):  
Single Shot ◽  
Human Demonstration

scholarly journals In vivo human demonstration of phase 2 reentry

Heart Rhythm ◽  
2005 ◽  
Vol 2 (8) ◽  
pp. 804-806 ◽  
Author(s):  
Charles Antzelevitch
Keyword(s):  
Phase 2 ◽  
Human Demonstration
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