Am Donnerstag, 23. Februar 2012, berichtet M.Sc. in AS Beatriz León, eine Absolventin des Masterstudienprogramms Autonome Systeme, über ihre aktuelle Forschung: "From Robot to Human Grasping Simulation."
wann: Donnerstag, 23. Februar 2012, 11:00 Uhr
wo: C 116
Thema: "From Robot to Human Grasping Simulation."
Robot Grasping Simulation
Simulation is a very useful tool for various robotic research fields such as mobile robotics, motion planning and grasp planning. For grasping in particular, there exist few software simulation packages that are capable of providing a holistic environment that can deal with the variety of features associated with this problem. These aspects include development and testing of new algorithms, modelling of the environments and the robots within them, including the modelling of actuators, sensors and contacts.
We have developed a simulation toolkit for grasping and dexterous manipulation called OpenGRASP which addresses those aspects in addition to boasting the advantages of extensibility, interoperability and public availability. OpenGRASP is based on a modular architecture, that supports the creation and addition of new functionality and the integration of existing and widely-used technologies and standards. In addition, a designated editor has been created for the generation and migration of such models.
Human Grasping Simulation
One of the main features of the human hand is its grasping ability. Robot grasping has been studied for years, and different quality measures have been proposed to evaluate the grasp’s ability to resist disturbances and its dexterity properties. Although the human hand is obviously more complex than robot hands, the methods used in robotics might be adopted to study the human grasp. The purpose of my work is to apply some of the most common robotic grasp quality measures to the human hand and to assess their use in the evaluation of the quality of human grasps. As robotic measures do not consider biological and neurological aspects of the human hand, a bio-mechanical quality measure, the fatigue index, is proposed to introduce the muscle stresses into the evaluation. A first approximation of finding the minimum set of indices that allows the evaluation of the different aspects of the grasp is presented and its validity is checked by reproducing a human prehension experiment.
Beatriz León received a Master's degree in Autonomous Systems from Bonn-Rhein-Sieg University (BRSU), Germany in 2008 for a thesis titled "A Software Integration Framework and Architecture for Robot Learning by Experimentation". The thesis, which was supervised by Prof. Dr. Paul Plöger and Karl Heinz-Sylla of the Fraunhofer Institute, was awarded the Förderpreis 2008 for the best computer science thesis at BRSU that year. While at BRSU, she was heavily involved in the EU-funded project XPERO from 2005 to 2008. Her first work in simulation was in developing XPERSim: A Simulator for Robot Learning by Experimentation which was designed and developed for the XPERO project. The simulator used ODE as the physic engine and OGRE 3D for the graphic visualization. She was also part of the development of a software framework (XPERSIF) for the integration of the different applications within the project.
Since 2008 she has been part of the EU-funded project GRASP contributing to work-package six, which focuses on the development of OpenGRASP: a simulation toolkit for grasping and dexterous manipulation. It is based on a modular architecture, that supports the creation and addition of new functionality and the integration of existing and widely-used technologies and standards.
She is currently pursuing her Doctoral degree at Universitat Jaume I, Castellón de la Plana, Spain. The goal of her work is to develop a simulated model of the human hand.
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