Learning Conditional Postural Synergies for Dexterous Hands: A Generative Approach Based on Variational Auto-Encoders and Conditioned on Object Size and Category
Dimitrios Dimou José Santos-Victor Plinio Moreno Dimitrios Dimou José Santos-Victor Plinio Moreno
Postural synergies are used in robotics to facilitate the control of dexterous artificial hands. This is achieved by learning a latent space (synergy space) from grasp postures and directly controlling the hand in this space. In this work, we propose the use of a non-linear conditional model for learning the latent space, that can incorporate the object shape and size as additional variables. Whil...