The robot is learning how to grasp objects by playing with them. Sometimes, human interaction is required, e.g., when the robot throws the objects out of reach.
For more details, see: Renaud Detry, Emre Baseski, Mila Popovic, Younes Touati, Norbert Krueger, Oliver Kroemer, Jan Peters, Justus Piater, Learning Object-specific Grasp Affordance Densities. International Conference on Development and Learning, 2009.
http://www.montefiore.ulg.ac.be/~piater/papers/Detry-2009-ICDL.pdf
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