Recognizing Orientation Slip in Human Demonstrations
Michael Hagenow Bolun Zhang Bilge Mutlu Michael Zinn Michael Gleicher Michael Hagenow Bolun Zhang Bilge Mutlu Michael Zinn Michael Gleicher
Manipulations of a constrained object often use a non-rigid grasp that allows the object to rotate relative to the end effector. This orientation slip strategy is often present in natural human demonstrations, yet it is generally overlooked in methods to identify constraints from such demonstrations. In this paper, we present a method to model and recognize prehensile orientation slip in human dem...