NDLI: Learning dextrous manipulation skills using multisensory information

Content Provider	IEEE Xplore Digital Library
Author	Fuentes, O. Nelson, R.C.
Copyright Year	1996
Description	Author affiliation: Dept. of Comput. Sci., Rochester Univ., NY, USA (Fuentes, O.)
Abstract	We present a method for autonomous learning of dextrous manipulation skills with multifingered robot hands. We use heuristics derived from observations made on human hands to reduce the degrees of freedom of the task and make learning tractable. Our approach consists of learning and storing a few basic manipulation primitives for a few prototypical objects and then using an associative memory to obtain the required parameters for new objects and/or manipulations. During learning, sensory information from tactile sensors and a position measuring device is used to evaluate the quality of a candidate manipulation. The parameter space of the robot is searched using a modified version of the evolution strategy, which is robust to the noise normally present in real-world complex robotic tasks. To ensure that the learned skills are applicable in the real world, our system does not rely on simulation. Experimental results show that accurate dextrous manipulation skills can be learned by the robot in a short period of time.
Starting Page	342
Ending Page	348
File Size	975323
Page Count	7
File Format	PDF
ISBN	078033700X
DOI	10.1109/MFI.1996.572199
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1996-12-08
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Orbital robotics Fingers Robot sensing systems Humans Intelligent robots Manipulators Machine learning Computer science Prototypes Associative memory
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
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9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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