Grasp Registration and Learning in Virtual Reality Environments

Enrique Valero, Antonio Adan

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

The objective of this paper is to present a grasping registration technique by using Virtual Reality technologies. In this context, an individual interacts with a virtual world by means of several devices which are integrated into a common architecture. A 6 DOF tracking system gives the position of the user in the scene and a VR glove provides the flexion angles of the fingers of a virtual hand. Through a Head Mounted Display the user achieves a total immersive visualization of the scene. This technique is being developed in order to provide a large dataset to be processed by grasp learning algorithms in robotic environments. In this document, we show the design and implementation stages of this technique as well as the tests executed in both simple and complex scenes. The results obtained let us assure the applicability of our system for learning-based grasp solution in more complex and general scenarios.

Original languageEnglish
Title of host publicationRECENT ADVANCES in COMPUTATIONAL INTELLIGENCE, MAN-MACHINE SYSTEMS and CYBERNETICS
Subtitle of host publicationProceedings of the 8th WSEAS International Conference on COMPUTATIONAL INTELLIGENCE, MAN-MACHINE SYSTEMS and CYBERNETICS (CIMMACS '09)
EditorsC.A. Bulucea, V. Mladenov, E. Pop, M. Leba, N. Mastorakis
PublisherWSEAS Press
Pages40-47
Number of pages8
ISBN (Print)978-960-474-144-1
Publication statusPublished - 2009
Event8th WSEAS International Conference on Computational Intelligence Man-Machine Systems and Cybernetics - Puerto de la Cruz, Spain
Duration: 14 Dec 200916 Dec 2009

Conference

Conference8th WSEAS International Conference on Computational Intelligence Man-Machine Systems and Cybernetics
CountrySpain
Period14/12/0916/12/09

Keywords

  • Virtual Data Registration
  • Virtual Grasping
  • 3D Pose and tracking
  • Manipulation Learning
  • Virtual Reality

Cite this

Valero, E., & Adan, A. (2009). Grasp Registration and Learning in Virtual Reality Environments. In C. A. Bulucea, V. Mladenov, E. Pop, M. Leba, & N. Mastorakis (Eds.), RECENT ADVANCES in COMPUTATIONAL INTELLIGENCE, MAN-MACHINE SYSTEMS and CYBERNETICS: Proceedings of the 8th WSEAS International Conference on COMPUTATIONAL INTELLIGENCE, MAN-MACHINE SYSTEMS and CYBERNETICS (CIMMACS '09) (pp. 40-47). WSEAS Press.
Valero, Enrique ; Adan, Antonio. / Grasp Registration and Learning in Virtual Reality Environments. RECENT ADVANCES in COMPUTATIONAL INTELLIGENCE, MAN-MACHINE SYSTEMS and CYBERNETICS: Proceedings of the 8th WSEAS International Conference on COMPUTATIONAL INTELLIGENCE, MAN-MACHINE SYSTEMS and CYBERNETICS (CIMMACS '09). editor / C.A. Bulucea ; V. Mladenov ; E. Pop ; M. Leba ; N. Mastorakis. WSEAS Press, 2009. pp. 40-47
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title = "Grasp Registration and Learning in Virtual Reality Environments",
abstract = "The objective of this paper is to present a grasping registration technique by using Virtual Reality technologies. In this context, an individual interacts with a virtual world by means of several devices which are integrated into a common architecture. A 6 DOF tracking system gives the position of the user in the scene and a VR glove provides the flexion angles of the fingers of a virtual hand. Through a Head Mounted Display the user achieves a total immersive visualization of the scene. This technique is being developed in order to provide a large dataset to be processed by grasp learning algorithms in robotic environments. In this document, we show the design and implementation stages of this technique as well as the tests executed in both simple and complex scenes. The results obtained let us assure the applicability of our system for learning-based grasp solution in more complex and general scenarios.",
keywords = "Virtual Data Registration, Virtual Grasping, 3D Pose and tracking, Manipulation Learning, Virtual Reality",
author = "Enrique Valero and Antonio Adan",
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pages = "40--47",
editor = "C.A. Bulucea and V. Mladenov and E. Pop and M. Leba and N. Mastorakis",
booktitle = "RECENT ADVANCES in COMPUTATIONAL INTELLIGENCE, MAN-MACHINE SYSTEMS and CYBERNETICS",
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Valero, E & Adan, A 2009, Grasp Registration and Learning in Virtual Reality Environments. in CA Bulucea, V Mladenov, E Pop, M Leba & N Mastorakis (eds), RECENT ADVANCES in COMPUTATIONAL INTELLIGENCE, MAN-MACHINE SYSTEMS and CYBERNETICS: Proceedings of the 8th WSEAS International Conference on COMPUTATIONAL INTELLIGENCE, MAN-MACHINE SYSTEMS and CYBERNETICS (CIMMACS '09). WSEAS Press, pp. 40-47, 8th WSEAS International Conference on Computational Intelligence Man-Machine Systems and Cybernetics, Spain, 14/12/09.

Grasp Registration and Learning in Virtual Reality Environments. / Valero, Enrique; Adan, Antonio.

RECENT ADVANCES in COMPUTATIONAL INTELLIGENCE, MAN-MACHINE SYSTEMS and CYBERNETICS: Proceedings of the 8th WSEAS International Conference on COMPUTATIONAL INTELLIGENCE, MAN-MACHINE SYSTEMS and CYBERNETICS (CIMMACS '09). ed. / C.A. Bulucea; V. Mladenov; E. Pop; M. Leba; N. Mastorakis. WSEAS Press, 2009. p. 40-47.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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N2 - The objective of this paper is to present a grasping registration technique by using Virtual Reality technologies. In this context, an individual interacts with a virtual world by means of several devices which are integrated into a common architecture. A 6 DOF tracking system gives the position of the user in the scene and a VR glove provides the flexion angles of the fingers of a virtual hand. Through a Head Mounted Display the user achieves a total immersive visualization of the scene. This technique is being developed in order to provide a large dataset to be processed by grasp learning algorithms in robotic environments. In this document, we show the design and implementation stages of this technique as well as the tests executed in both simple and complex scenes. The results obtained let us assure the applicability of our system for learning-based grasp solution in more complex and general scenarios.

AB - The objective of this paper is to present a grasping registration technique by using Virtual Reality technologies. In this context, an individual interacts with a virtual world by means of several devices which are integrated into a common architecture. A 6 DOF tracking system gives the position of the user in the scene and a VR glove provides the flexion angles of the fingers of a virtual hand. Through a Head Mounted Display the user achieves a total immersive visualization of the scene. This technique is being developed in order to provide a large dataset to be processed by grasp learning algorithms in robotic environments. In this document, we show the design and implementation stages of this technique as well as the tests executed in both simple and complex scenes. The results obtained let us assure the applicability of our system for learning-based grasp solution in more complex and general scenarios.

KW - Virtual Data Registration

KW - Virtual Grasping

KW - 3D Pose and tracking

KW - Manipulation Learning

KW - Virtual Reality

M3 - Conference contribution

SN - 978-960-474-144-1

SP - 40

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BT - RECENT ADVANCES in COMPUTATIONAL INTELLIGENCE, MAN-MACHINE SYSTEMS and CYBERNETICS

A2 - Bulucea, C.A.

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A2 - Mastorakis, N.

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Valero E, Adan A. Grasp Registration and Learning in Virtual Reality Environments. In Bulucea CA, Mladenov V, Pop E, Leba M, Mastorakis N, editors, RECENT ADVANCES in COMPUTATIONAL INTELLIGENCE, MAN-MACHINE SYSTEMS and CYBERNETICS: Proceedings of the 8th WSEAS International Conference on COMPUTATIONAL INTELLIGENCE, MAN-MACHINE SYSTEMS and CYBERNETICS (CIMMACS '09). WSEAS Press. 2009. p. 40-47