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Improving grasping forces during the manipulation of unknown objects
| 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 | 2019-02-20T08:31:33Z |
| dc.date.available | 2019-02-20T08:31:33Z |
| dc.date.issued | 2018 |
| dc.identifier.citation | Montaño, A.; Suarez, R. Improving grasping forces during the manipulation of unknown objects. A: IEEE/RSJ International Conference on Intelligent Robots and Systems. "2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)". Institute of Electrical and Electronics Engineers (IEEE), 2018, p. 3490-3495. |
| dc.identifier.uri | http://hdl.handle.net/2117/129429 |
| dc.description | © 2018 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting /republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works |
| dc.description.abstract | Many of the solutions proposed for the object manipulation problem are based on the knowledge of the object features. The approach proposed in this paper intends to provide a simple geometrical approach to securely manipulate an unknown object based only on tactile and kinematic information. The tactile and kinematic data obtained during the manipulation is used to recognize the object shape (at least the local object curvature), allowing to improve the grasping forces when this information is added to the manipulation strategy. The approach has been fully implemented and tested using the Schunk Dexterous Hand (SDH2). Experimental results are shown to illustrate the efficiency of the approach. |
| dc.format.extent | 6 p. |
| dc.language.iso | eng |
| dc.publisher | Institute of Electrical and Electronics Engineers (IEEE) |
| 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 | Robotics |
| dc.subject.lcsh | Detectors |
| dc.subject.other | Shape |
| dc.subject.other | Tactile sensors |
| dc.subject.other | Force |
| dc.subject.other | Kinematics |
| dc.subject.other | Grasping |
| dc.title | Improving grasping forces during the manipulation of unknown objects |
| dc.type | Conference report |
| dc.subject.lemac | Robòtica |
| dc.subject.lemac | Sensors tàctils |
| dc.contributor.group | Universitat Politècnica de Catalunya. SIR - Service and Industrial Robotics |
| dc.identifier.doi | 10.1109/IROS.2018.8593655 |
| dc.description.peerreviewed | Peer Reviewed |
| dc.relation.publisherversion | https://ieeexplore.ieee.org/document/8593655 |
| dc.rights.access | Open Access |
| local.identifier.drac | 23667471 |
| dc.description.version | Postprint (author's final draft) |
| local.citation.author | Montaño, A.; Suarez, R. |
| local.citation.contributor | IEEE/RSJ International Conference on Intelligent Robots and Systems |
| local.citation.publicationName | 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) |
| local.citation.startingPage | 3490 |
| local.citation.endingPage | 3495 |
