In-hand recognition and manipulation of elastic objects using a servo-tactile control strategy
Empreu sempre aquest identificador per citar o enllaçar aquest ítem
http://hdl.handle.net/10045/66442
Títol: | In-hand recognition and manipulation of elastic objects using a servo-tactile control strategy |
---|---|
Autors: | Delgado Rodríguez, Ángel | Jara, Carlos A. | Torres, Fernando |
Grups d'investigació o GITE: | Automática, Robótica y Visión Artificial |
Centre, Departament o Servei: | Universidad de Alicante. Departamento de Física, Ingeniería de Sistemas y Teoría de la Señal | Universidad de Alicante. Instituto Universitario de Investigación Informática |
Paraules clau: | Deformable object | Grasping | In-hand manipulation | Tactile servoing |
Àrees de coneixement: | Ingeniería de Sistemas y Automática |
Data de publicació: | de desembre-2017 |
Editor: | Elsevier |
Citació bibliogràfica: | Robotics and Computer-Integrated Manufacturing. 2017, 48: 102-112. doi:10.1016/j.rcim.2017.03.002 |
Resum: | Grasping and manipulating objects with robotic hands depend largely on the features of the object to be used. Especially, features such as softness and deformability are crucial to take into account during the manipulation tasks. Indeed, positions of the fingers and forces to be applied by the robot hand when manipulating an object must be adapted to the caused deformation. For unknown objects, a previous recognition stage is usually needed to get the features of the object, and the manipulation strategies must be adapted depending on that recognition stage. To obtain a precise control in the manipulation task, a complex object model is usually needed and performed, for example using the Finite Element Method. However, these models require a complete discretization of the object and they are time-consuming for the performance of the manipulation tasks. For that reason, in this paper a new control strategy, based on a minimal spring model of the objects, is presented and used for the control of the robot hand. This paper also presents an adaptable tactile-servo control scheme that can be used in in-hand manipulation tasks of deformable objects. Tactile control is based on achieving and maintaining a force value at the contact points which changes according to the object softness, a feature estimated in an initial recognition stage. |
Patrocinadors: | Research supported by Spanish Ministry of Economy, European FEDER funds, the Valencia Regional Government and University of Alicante, through projects DPI2012-32390, DPI2015-68087-R, PROMETEO/2013/085 and GRE 15-05. |
URI: | http://hdl.handle.net/10045/66442 |
ISSN: | 0736-5845 (Print) | 1879-2537 (Online) |
DOI: | 10.1016/j.rcim.2017.03.002 |
Idioma: | eng |
Tipus: | info:eu-repo/semantics/article |
Drets: | © 2017 Elsevier Ltd. |
Revisió científica: | si |
Versió de l'editor: | http://dx.doi.org/10.1016/j.rcim.2017.03.002 |
Apareix a la col·lecció: | INV - HURO - Artículos de Revistas INV - AUROVA - Artículos de Revistas |
Arxius per aquest ítem:
Arxiu | Descripció | Tamany | Format | |
---|---|---|---|---|
2017_Delgado_etal_RCIM_final.pdf | Versión final (acceso restringido) | 1,88 MB | Adobe PDF | Obrir Sol·licitar una còpia |
2017_Delgado_etal_RCIM_preprint.pdf | Preprint (acceso abierto) | 1,15 MB | Adobe PDF | Obrir Vista prèvia |
Tots els documents dipositats a RUA estan protegits per drets d'autors. Alguns drets reservats.