Skip to content
No description, website, or topics provided.
Branch: master
Clone or download
Fetching latest commit…
Cannot retrieve the latest commit at this time.
Permalink
Type Name Latest commit message Commit time
Failed to load latest commit information.
LICENSE
README.md

README.md

Action gist based automatic segmentation for periodic in-hand manipulation movement learning

Objectives:

Dataset acquisition performed to the HANDLE project partner: University of Hamburg - Technical Aspects of Multimodal Systems (TAMS) Lab.

To develop a MATLAB software tool to automatically segment dexterous in-hand manipulation movements. The automatic segmentation will be compared (benchmark) to the segmentation performed manually by a human operator.

Outputs:

Datasets of a human demonstrator performing an in-hand dexterous manipulation tasks: screw driver in-hand rotation (periodic movement). The hand of the human subject was equipped with a Cyberglove and Tekscan tactile sensing grasp array. The demonstrations were also recorded using a monocular RGB camera. Sample dataset video:

alt text

Publication by the HANDLE partner University of Hamburg - Technical Aspects of Multimodal Systems (TAMS) Lab.: Gang Cheng; Hendrich, N.; Jianwei Zhang, "Action gist based automatic segmentation for periodic in-hand manipulation movement learning," Intelligent Robots and Systems (IROS), 2012 IEEE/RSJ International Conference on , vol., no., pp.4768-4775, 7-12 Oct. 2012. link paper

PhD thesis by HANDLE researcher Gang Cheng: Gang Cheng, " State-Action Gist based In-hand Manipulation Learning from Human Demonstration", PhD Thesis, University of Hamburg, 2013. thesis link

You can’t perform that action at this time.