Visual/Tactile sensing to monitor grasps with robot-hand for planar elastic objects

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Title: Visual/Tactile sensing to monitor grasps with robot-hand for planar elastic objects
Authors: Gil, Pablo | Mateo Agulló, Carlos | Delgado Rodríguez, Ángel | Torres, Fernando
Research Group/s: Automática, Robótica y Visión Artificial
Center, Department or Service: Universidad de Alicante. Departamento de Física, Ingeniería de Sistemas y Teoría de la Señal
Keywords: Visión 3d | Robótica | Reconocimiento de objetos | Reconocimiento de superficies | Manipulación robótica | Objetos deformables | Control táctil
Knowledge Area: Ingeniería de Sistemas y Automática
Issue Date: 2016
Publisher: VDE VERLAG GmbH
Citation: Proceedings of ISR 2016: 47st International Symposium on Robotics (June 21 – 22, 2016, Munich, Germany). VDE VERLAG GmbH, pp. 439-445
Abstract: Both tactile and visual sensing are important to solve problems of uncertainties inherent to the grasping tasks. In this paper, a hybrid approach based on combining tactile and RGBD data is proposed for control the robotic manipulation of elastic objects. The proposed method detects both interaction and lack of contact among fingertips and object. Also, this approach measures deformations to determine appropriated finger movements when the object's geometry changes in real time as a result of the deformation caused by the pressure. This approach was evaluated on a multi-fingered robot hand with tactile sensors in real experiments.
Sponsor: This work was supported by the European FEDER funds, the Spanish Ministry of Economising and the Valencia Regional Government through the research projects DPI 2015-68087R and PROMETEO 20/3/085, as well as the pre-doctoral grant BES-2013-062864.
ISBN: 978-3-8007-4231-8
Language: eng
Type: info:eu-repo/semantics/conferenceObject
Rights: © VDE VERLAG GmbH
Peer Review: si
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Appears in Collections:INV - AUROVA - Comunicaciones a Congresos Internacionales

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