Transactions on Intelligent Welding Manufacturing by Shanben Chen & Yuming Zhang & Zhili Feng

Author:Shanben Chen & Yuming Zhang & Zhili Feng
Language: eng
Format: epub
ISBN: 9789811083303
Publisher: Springer Singapore

2 Self-adaptive Grasping Based on Gaussian Process

2.1 Task Modeling

When executing a grasping task, the robot needs to match its own joint angle parameters and adjusts its motion according to position information of the target object. Self-adaptive grasping model of the robot to the target object is generalized as below:

(1)

where represents observations of target object, is the corresponding joint coordinate, and is mapping function from observation variable of the target object to joint coordinate.

It is assumed that is the sample set obtained through demonstration, where represents sample vector consisting of joint variables and observations. Robot self-adaptive grasping process lies in learning from sample set to obtain mapping function so that the robot can obtain the corresponding joint coordinate according to the observation .

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