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Manipulation of unknown objects to improve the grasp quality using tactile information
dc.contributor.author | Montaño Sarria, Andrés Felipe |
dc.contributor.author | Suárez Feijóo, Raúl |
dc.contributor.other | Universitat Politècnica de Catalunya. Institut d'Organització i Control de Sistemes Industrials |
dc.date.accessioned | 2018-07-18T08:15:16Z |
dc.date.available | 2018-07-18T08:15:16Z |
dc.date.issued | 2018-05-03 |
dc.identifier.citation | Montaño, 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.issn | 1424-8220 |
dc.identifier.uri | http://hdl.handle.net/2117/119457 |
dc.description.abstract | This 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.iso | eng |
dc.publisher | Multidisciplinary Digital Publishing Institute (MDPI) |
dc.rights | Attribution-NonCommercial-NoDerivs 3.0 Spain |
dc.rights.uri | http://creativecommons.org/licenses/by-nc-nd/3.0/es/ |
dc.subject | Àrees temàtiques de la UPC::Informàtica::Robòtica |
dc.subject.lcsh | Tactile sensors |
dc.subject.lcsh | Robotics |
dc.subject.lcsh | Manipulators (Mechanism) |
dc.subject.other | Robotic manipulation |
dc.subject.other | grasping |
dc.subject.other | grasp quality |
dc.subject.other | tactile sensors |
dc.subject.other | tactile manipulation |
dc.title | Manipulation of unknown objects to improve the grasp quality using tactile information |
dc.type | Article |
dc.subject.lemac | Robòtica |
dc.subject.lemac | Sensors tàctils |
dc.subject.lemac | Manipuladors (Mecanismes) |
dc.contributor.group | Universitat Politècnica de Catalunya. SIR - Service and Industrial Robotics |
dc.identifier.doi | 10.3390/s18051412 |
dc.description.peerreviewed | Peer Reviewed |
dc.relation.publisherversion | http://www.mdpi.com/1424-8220/18/5/1412 |
dc.rights.access | Open Access |
local.identifier.drac | 22954798 |
dc.description.version | Postprint (published version) |
local.citation.author | Montaño, A.; Suarez, R. |
local.citation.publicationName | Sensors |
local.citation.volume | 18 |
local.citation.number | 5 |
local.citation.startingPage | 1412 |
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