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dc.contributor.authorMontaño Sarria, Andrés Felipe
dc.contributor.authorSuárez Feijóo, Raúl
dc.contributor.otherUniversitat Politècnica de Catalunya. Institut d'Organització i Control de Sistemes Industrials
dc.date.accessioned2018-07-18T08:15:16Z
dc.date.available2018-07-18T08:15:16Z
dc.date.issued2018-05-03
dc.identifier.citationMontaño, A., Suarez, R. Manipulation of unknown objects to improve the grasp quality using tactile information. "Sensors", 3 Maig 2018, vol. 18, núm. 5. p.1412
dc.identifier.issn1424-8220
dc.identifier.urihttp://hdl.handle.net/2117/119457
dc.description.abstractThis work presents a novel and simple approach in the area of manipulation of unknown objects considering both geometric and mechanical constraints of the robotic hand. Starting with an initial blind grasp, our method improves the grasp quality through manipulation considering the three common goals of the manipulation process: improving the hand configuration, the grasp quality and the object positioning, and, at the same time, prevents the object from falling. Tactile feedback is used to obtain local information of the contacts between the fingertips and the object, and no additional exteroceptive feedback sources are considered in the approach. The main novelty of this work lies in the fact that the grasp optimization is performed on-line as a reactive procedure using the tactile and kinematic information obtained during the manipulation. Experimental results are shown to illustrate the efficiency of the approach
dc.language.isoeng
dc.publisherMultidisciplinary Digital Publishing Institute (MDPI)
dc.rightsAttribution-NonCommercial-NoDerivs 3.0 Spain
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/3.0/es/
dc.subjectÀrees temàtiques de la UPC::Informàtica::Robòtica
dc.subject.lcshTactile sensors
dc.subject.lcshRobotics
dc.subject.lcshManipulators (Mechanism)
dc.subject.otherRobotic manipulation
dc.subject.othergrasping
dc.subject.othergrasp quality
dc.subject.othertactile sensors
dc.subject.othertactile manipulation
dc.titleManipulation of unknown objects to improve the grasp quality using tactile information
dc.typeArticle
dc.subject.lemacRobòtica
dc.subject.lemacSensors tàctils
dc.subject.lemacManipuladors (Mecanismes)
dc.contributor.groupUniversitat Politècnica de Catalunya. SIR - Service and Industrial Robotics
dc.identifier.doi10.3390/s18051412
dc.description.peerreviewedPeer Reviewed
dc.relation.publisherversionhttp://www.mdpi.com/1424-8220/18/5/1412
dc.rights.accessOpen Access
local.identifier.drac22954798
dc.description.versionPostprint (published version)
local.citation.authorMontaño, A.; Suarez, R.
local.citation.publicationNameSensors
local.citation.volume18
local.citation.number5
local.citation.startingPage1412


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Attribution-NonCommercial-NoDerivs 3.0 Spain
Except where otherwise noted, content on this work is licensed under a Creative Commons license : Attribution-NonCommercial-NoDerivs 3.0 Spain