| Presentation | 2017-03-21 Object grasping by multi-fingered robot based on transcription of human hand shape Hiroya Fukuhara, Kawakami Takuya, Yano Masaki, Matsuo Tadashi, Shimada Nobutaka, |
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| PDF Download Page |  PDF download Page Link |
| Abstract(in Japanese) | (See Japanese page) |
| Abstract(in English) | In this research，we use the depth image of the human hand recalled as input and wake the robot hand of 3 fingers × 3 joints take the posture having the same function to grasp the object by the robot．Using Shift Invariant Auto Encoder，we create a subspace that expresses the depth image of the hand in a sub dimension．A small number of hand depth images are projected in the created sub dimensional space， and a regression model is created by associating the posture (joint angle) of the robot hand having the same function as the posture of the hand． The depth image of the hand was projected to the actually created sub dimensional space，the projected one was input to the regression model，and the estimated result was taken as the posture of the robot hand． |
| Keyword(in Japanese) | (See Japanese page) |
| Keyword(in English) | Shift Invariant Auto Encoder / Hand-Arm Robot / Imitation of hand / Semi-supervised learning |
| Paper # | BioX2016-65,PRMU2016-228 |
| Date of Issue | 2017-03-13 (BioX, PRMU) |
| Conference Information | |
| Committee | PRMU / BioX |
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| Conference Date | 2017/3/20(2days) |
| Place (in Japanese) | (See Japanese page) |
| Place (in English) | |
| Topics (in Japanese) | (See Japanese page) |
| Topics (in English) | |
| Chair | Eisaku Maeda(NTT) / Masakatsu Nishigaki(Shizuoka Univ.) |
| Vice Chair | Seiichi Uchida(Kyushu Univ.) / Hironobu Fujiyoshi(Chubu Univ.) / Akira Otsuka(AIST) / Hiroshi Takano(Toyama Pref. Univ.) |
| Secretary | Seiichi Uchida(Kyoto Univ.) / Hironobu Fujiyoshi(NTT) / Akira Otsuka(NEC) / Hiroshi Takano(AIST) |
| Assistant | Masaki Oonishi(AIST) / Takuya Funatomi(NAIST) / Masatsugu Ichino(Univ. of Electro-Comm.) / Naoyuki Takada(Secom) / Takahiro Aoki(Fujitsu Labs.) |
| Paper Information | |
| Registration To | Technical Committee on Pattern Recognition and Media Understanding / Technical Committee on Biometrics |
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| Language | JPN |
| Title (in Japanese) | (See Japanese page) |
| Sub Title (in Japanese) | (See Japanese page) |
| Title (in English) | Object grasping by multi-fingered robot based on transcription of human hand shape |
| Sub Title (in English) | |
| Keyword(1) | Shift Invariant Auto Encoder |
| Keyword(2) | Hand-Arm Robot |
| Keyword(3) | Imitation of hand |
| Keyword(4) | Semi-supervised learning |
| 1st Author's Name | Hiroya Fukuhara |
| 1st Author's Affiliation | Ritsumeikan University(Ritsumeikan Univ) |
| 2nd Author's Name | Kawakami Takuya |
| 2nd Author's Affiliation | Ritsumeikan University(Ritsumeikan Univ) |
| 3rd Author's Name | Yano Masaki |
| 3rd Author's Affiliation | Ritsumeikan University(Ritsumeikan Univ) |
| 4th Author's Name | Matsuo Tadashi |
| 4th Author's Affiliation | Ritsumeikan University(Ritsumeikan Univ) |
| 5th Author's Name | Shimada Nobutaka |
| 5th Author's Affiliation | Ritsumeikan University(Ritsumeikan Univ) |
| Date | 2017-03-21 |
| Paper # | BioX2016-65,PRMU2016-228 |
| Volume (vol) | vol.116 |
| Number (no) | BioX-527,PRMU-528 |
| Page | pp.pp.191-196(BioX), pp.191-196(PRMU), |
| #Pages | 6 |
| Date of Issue | 2017-03-13 (BioX, PRMU) |