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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.identifier.citationMontaño, A.; Suarez, R. Object shape reconstruction based on the object manipulation. A: International Conference on Advanced Robotics. "The 16th International Conference on Advanced Robotics, ICAR 2013". Montevideo: 2013, p. 1-6.
dc.description.abstractThis paper presents an approach for the object shape reconstruction based on the object manipulation using tactile information and force feedback. The tactile information collected during the manipulation process and the kinematic information of the hand are used to identify points on the surface of the object in contact with the hand and thus allowing the object shape reconstruction. Distance invariants are measured on the reconstructed object shape in order to perform the object identification. The proposed approach was implemented using the Shunck Dexterous Hand (SDH2). Different tests were performed in real executions and some examples are presented in the paper.
dc.format.extent6 p.
dc.subjectÀrees temàtiques de la UPC::Informàtica::Robòtica
dc.subject.lcshRobot hands
dc.titleObject shape reconstruction based on the object manipulation
dc.typeConference report
dc.subject.lemacMans mecàniques
dc.contributor.groupUniversitat Politècnica de Catalunya. SIR - Service and Industrial Robotics
dc.rights.accessRestricted access - publisher's policy
dc.description.versionPostprint (published version)
local.citation.authorMontaño, A.; Suarez, R.
local.citation.contributorInternational Conference on Advanced Robotics
local.citation.publicationNameThe 16th International Conference on Advanced Robotics, ICAR 2013

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