Teaching grasping points using natural movements
Başlık çevirisi mevcut değil.
- Tez No: 402583
- Danışmanlar: DR. GUILLEM ALENYA
- Tez Türü: Yüksek Lisans
- Konular: Bilgisayar Mühendisliği Bilimleri-Bilgisayar ve Kontrol, Elektrik ve Elektronik Mühendisliği, Makine Mühendisliği, Computer Engineering and Computer Science and Control, Electrical and Electronics Engineering, Mechanical Engineering
- Anahtar Kelimeler: vector autoregression, cloth manipulation, textile grasping
- Yıl: 2014
- Dil: İngilizce
- Üniversite: Escola Tecnica Superior d'Enginyeria Industrial de Barcelona (ETSEIB)
- Enstitü: Yurtdışı Enstitü
- Ana Bilim Dalı: Belirtilmemiş.
- Bilim Dalı: Belirtilmemiş.
- Sayfa Sayısı: 44
Özet
Özet yok.
Özet (Çeviri)
Research about tasks that robotic maids should be able to perform is an emerging research area such as cooking and cleaning. Among them, manipulation of clothes is one of the hardest tasks due to the fact that textile is highly deformable and it is hard to model a good grasping point on them. In literature there are certain algorithms depending on 3D information of the cloth but most of them are not robust. Among them, Fast Integral Normal 3D (FINDDD) descriptors is a promising way for finding grasping points around previously detected collar of a polo shirt but, it fails to select the position in the best way possible. In this work, an improvement to the FINDDD descriptor selected grasping points, using vector autoregression model is proposed. Previously calculated FINDDD scores will be used as features and the system will be able to find a grasping position which is better to grasp a polo shirt. With better grasping positions, the robot will be able to perform further tasks such as folding, hanging to a hook etc. To train the system, a training set is formed from the samples of the simplest placement of the polo shirt. Then, the trained system is tested on 7 different positions and placements of the polo shirt. To form the training set, we have developed a new interaction method based on the use of a sensor that captures natural hand movements. With use of this method, the robot is teleoperated using natural hand movements instead of direct manipulation or haptic devices as usage of natural hand movements enhances the user experience and eases the data collection process. The system is evaluated based on the distance between the user given grasp positions and the system output grasp positions. Further evaluation is done by checking whether the new grasping positions indeed better positions by analysing the real world images. Even though, the system works well for the spread open cases, the results obtained are prone to placement changes especially when wrinkles are introduced.
Benzer Tezler
- XIX.yüzyıl Türk hattatlarından Mustafa Rakım Efendi
Mustafa Rakım Efendi artist of calligraphy of the xixth century
PINAR EZMEN
Yüksek Lisans
Türkçe
1988
El SanatlarıMimar Sinan Güzel Sanatlar ÜniversitesiGeleneksel Türk El Sanatları Ana Bilim Dalı
PROF. KERİM SİLİVRİLİ
- Türkiye'nin jeopolitik, jeostratejik öneminin kavranmasında 9. ve 10. sınıf öğrencilerine verilen coğrafya eğitiminin yeri ve önemi
The importance of teaching geography for the ninth and tenth grade students in grasping strategical importance of Turkey
MUSTAFA BAYGIN
Yüksek Lisans
Türkçe
2005
Eğitim ve ÖğretimMarmara ÜniversitesiOrtaöğretim Sosyal Alanlar Eğitimi Ana Bilim Dalı
DR. SÜHEYLA ÜÇIŞIK
PROF.DR. RAMAZAN ÖZEY
- A study on post-method pedagogy and reflective teaching at public schools
Devlet okullarında yöntem sonrası pedagoji ve yansıtıcı öğretme üzerine bir çalışma
SERAP YILDIZ
Yüksek Lisans
İngilizce
2020
Eğitim ve ÖğretimÇağ Üniversitesiİngiliz Dili Eğitimi Ana Bilim Dalı
DR. ÖĞR. ÜYESİ SENEM ZAİMOĞLU
- Din kültürü ve Ahlak Bilgisi öğretimine katkısı açısından Enneagram
Teaching Religious Culture and Moral Knowledge Enneagram in terms of its contribution
DİLEK ÖZKAN
Yüksek Lisans
Türkçe
2024
DinSivas Cumhuriyet ÜniversitesiFelsefe ve Din Bilimleri Ana Bilim Dalı
PROF. DR. HÜSEYİN YILMAZ
- Varyans ve serbestlik derecesi konusunun bilgisayar destekli öğretimi
Teaching variance and degree of freedom through computer assisted instruction
YEŞİM SÜRMELİOĞLU
Yüksek Lisans
Türkçe
2016
Eğitim ve ÖğretimBalıkesir ÜniversitesiBilgisayar ve Öğretim Teknolojileri Eğitimi Ana Bilim Dalı
DOÇ. DR. SERKAN PERKMEN