Grasp Recognition and Manipulation with the Tango

Paul Kry 1, 2, 3, 4 Dinesh Pai 2, 3
1 EVASION - Virtual environments for animation and image synthesis of natural objects
GRAVIR - IMAG - Graphisme, Vision et Robotique, Inria Grenoble - Rhône-Alpes, CNRS - Centre National de la Recherche Scientifique : FR71
4 EVASION - Virtual environments for animation and image synthesis of natural objects
Inria Grenoble - Rhône-Alpes, LJK - Laboratoire Jean Kuntzmann, INPG - Institut National Polytechnique de Grenoble
Abstract : We describe an interface that uses a graspable device called the Tango, which looks like a ball but measures contact pressures on its surface at 256 tactual elements (taxels) at a high rate (100 Hz). The acceleration of the device is also measured. The key idea is to use this information to recognize the shape and movement of the user's hand grasping the object, with the vision that such a system would make it much easier to program interaction with 3D objects. We describe a new rotationally invariant algorithm for recognizing hand configuration, by using examples of previous interaction collected with motion capture. The recognition method is sufficiently fast for interactive manipulation. We also describe examples of 3D interaction using our system, in which the user interacts with 3D virtual objects using a hand avatar. Using this interface, the user can grasp an object, rotate it in 3D, transport it to a different location, and place it, with the ease and simplicity approaching that of handling a simple mouse. In the future, such tangible interfaces could be used for programming robots by demonstration or for model-based telerobotics.
Type de document :
Communication dans un congrès
Oussama Khatib and Vijay Kumar and Daniela Rus. 10th International Symposium on Experimental Robotics (ISER'06), Jul 2006, Rio de Janeiro, Brazil. Springer, 39, pp.551-559, 2008, Springer Tracts in Advanced Robotics. 〈10.1007/978-3-540-77457-0_52〉
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Soumis le : jeudi 18 novembre 2010 - 15:19:25
Dernière modification le : mercredi 6 juin 2018 - 01:22:33
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Paul Kry, Dinesh Pai. Grasp Recognition and Manipulation with the Tango. Oussama Khatib and Vijay Kumar and Daniela Rus. 10th International Symposium on Experimental Robotics (ISER'06), Jul 2006, Rio de Janeiro, Brazil. Springer, 39, pp.551-559, 2008, Springer Tracts in Advanced Robotics. 〈10.1007/978-3-540-77457-0_52〉. 〈inria-00537440〉

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