K. Charusta, D. Dimitrov, A. J. Lilienthal and B. Iliev
Extraction of Grasp Related Features by Human Dual-Hand Object Exploration
Proceedings of the IEEE International Conference on Advanced Robotics (ICAR), 2009, pp. 122-127

We consider the problem of objects exploration for grasping purposes, specifically in cases where vision based methods are not applicable. A novel dual-hand object exploration method is proposed that takes benefits from a human demonstration to enrich knowledge about an object. The user handles an object freely using both hands, without restricting the object pose. A set of grasp-related features obtained during exploration is demonstrated and utilized to generate grasp oriented bounding boxes that are basis for pre-grasp hypothesis. We believe that such exploration done in a natural and user friendly way creates important link between an operator intention and a robot action.

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