From human grasping to robot grasping

Oztop, Erhan
Ozyer, Baris
Ugur, Emre
Kawato, Mitsuo
We will report our ongoing work on task dependent grasping in humans and realization of this skill on a robotic platform. The human movements are recorded using a motion capture system and analyzed off-line or used online to control a robotic system. The off-line results showed that humans deploy different grasps for objects depending on the task specification (e.g. grasping a hammer for prying or driving a nail), even though the orientation and location of the objects were kept the same. The off-line data is also used to derive robot trajectories implementing task depended grasping on a 7-DOF robotic arm and a 16-DOF robotic hand.


From primitive behaviors to goal-directed behavior using affordances
Doǧar, Mehmet R.; Çakmak, Maya; Uǧur, Emre; Şahin, Erol (2007-12-01)
In this paper, we studied how a mobile robot equipped with a 3D laser scanner can start from primitive behaviors and learn to use them to achieve goal-directed behaviors. For this purpose, we propose a learning scheme that is based on the concept of "affordances", where the robot first learns about the different kind of effects it can create in the environment and then links these effects with the perception of the initial environment and the executed primitive behavior. It uses these learned relations to c...
Downsizing and Restructuring in Smaller Firms Survivors Perceptions
Aşcıgil, Semra Feriha; Sounders, Mark; Thornhill, Adrian (Philosophy Documentation Center, 2008-01-01)
Downsizing is a process whereby human relations management emerges as a critical skill in its effective management. This paper is about perceptions of employees of a small-sized Turkish firm who survived successive downsizing decisions. It was found that downsizing affected the organizational justice-related perceptions of survivors. The questionnaire used to explore organizational justice-related perceptions involved three dimensions and was developed by Saunders and Thornhill (1999). Procedural, interacti...
A study on social and affective dimensions of the use of assisted reproduction technology (art) by women in Turkey
Üner, Özge; Akşit, Bahattin; Department of Science and Technology Policy Studies (2004)
This thesis aims to discuss the concept of Assisted Reproduction Technology and its social and affective impacts. Women will be at the center of this research as it has been thought that emotional stressors are mostly effective on them. In the present work, an investigation will be carried out among women who have used assisted reproduction technology methods and women who are able to reproduce and conceive أnaturallyؤ. The comparison of these two groups will illuminate problematical aspects of assisted rep...
From syllable to meaning : effects of knowledge of syllable in learning the meaning bearing units of language
Çöltekin, Çağrı; Bozşahin, Hüseyin Cem; Department of Cognitive Sciences (2006)
This thesis aims to investigate the role of the syllable, a non-meaning bearing unit, in learning high level meaning bearing units---the lexical items of language. A computational model has been developed to learn the meaning bearing units of the language, assuming knowledge of syllables. The input to the system comprises of words marked at syllable boundaries together with their meanings. Using a statistical learning algorithm, the model discovers the meaning bearing elements with their respective syntacti...
Exploring The Potentials of Voice-Based Conversational Agents for The Elderly: Beyond a Pragmatic Perspective
Şahin, Hilal; Töre Yargın, Gülşen; Günay, Aslı; Department of Industrial Design (2023-1-27)
Speech, the fundamental basis of human communication, is now enabling interaction between humans and machines. Correspondingly, the acceptance of Voice-based Conversational Agents (VCAs) by different age groups is remarkably rising. The aging population and events like COVID-19 have led to increased attention on elderly users in academic research, which focuses mostly on their declining mental and physical abilities. The aim of this thesis is to examine the impact of values, hedonic aspects, and routines of...
Citation Formats
E. Oztop, B. Ozyer, E. Ugur, and M. Kawato, “From human grasping to robot grasping,” 2009, vol. 65, p. 0, Accessed: 00, 2020. [Online]. Available: