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Unknown object manipulation based on 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 | 2016-02-08T15:11:19Z |
| dc.date.issued | 2015 |
| dc.identifier.citation | Montaño, A., Suarez, R. Unknown object manipulation based on tactile information. A: IEEE/RSJ International Conference on Intelligent Robots and Systems. "2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015, Hamburg, Germany, September 28-October 2, 2015". Hamburg: Institute of Electrical and Electronics Engineers (IEEE), 2015, p. 5642-5647. |
| dc.identifier.isbn | 978-1-4799-9994-1 |
| dc.identifier.uri | http://hdl.handle.net/2117/82684 |
| dc.description.abstract | This work proposes an approach to manipulate unknown objects based on tactile information. The manipulation can have three goals: the optimization of the hand configuration, the optimization of the grasp quality and the optimization of the object configuration. Three different motion strategies are introduced in order to move the fingers trying to deal with each of the three goals. The strategies can be applied independently or combined in a sequential way. The feasibility of the motion strategies was proven in real experimentation using the Schunk Dexterous Hand SDH2. |
| dc.format.extent | 6 p. |
| dc.language.iso | eng |
| dc.publisher | Institute of Electrical and Electronics Engineers (IEEE) |
| dc.subject | Àrees temàtiques de la UPC::Informàtica::Robòtica |
| dc.subject.lcsh | Robots -- Motion |
| dc.subject.lcsh | Robot hands |
| dc.title | Unknown object manipulation based on tactile information |
| dc.type | Conference lecture |
| dc.subject.lemac | Robots -- Moviment |
| dc.subject.lemac | Mans mecàniques |
| dc.contributor.group | Universitat Politècnica de Catalunya. SIR - Service and Industrial Robotics |
| dc.rights.access | Restricted access - publisher's policy |
| local.identifier.drac | 17381037 |
| dc.description.version | Postprint (author's final draft) |
| dc.date.lift | 10000-01-01 |
| local.citation.author | Montaño, A.; Suarez, R. |
| local.citation.contributor | IEEE/RSJ International Conference on Intelligent Robots and Systems |
| local.citation.pubplace | Hamburg |
| local.citation.publicationName | 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015, Hamburg, Germany, September 28-October 2, 2015 |
| local.citation.startingPage | 5642 |
| local.citation.endingPage | 5647 |