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Manipulation of unknown objects to improve the grasp quality using tactile information

Author
Montaño, A.; Suarez, R.
Type of activity
Journal article
Journal
Sensors
Date of publication
2018-05-03
Volume
18
Number
5
First page
1412
DOI
https://doi.org/10.3390/s18051412 Open in new window
Repository
http://hdl.handle.net/2117/119457 Open in new window
URL
http://www.mdpi.com/1424-8220/18/5/1412 Open in new window
Abstract
This work presents a novel and simple approach in the area of manipulation of unknown objects considering both geometric and mechanical constraints of the robotic hand. Starting with an initial blind grasp, our method improves the grasp quality through manipulation considering the three common goals of the manipulation process: improving the hand configuration, the grasp quality and the object positioning, and, at the same time, prevents the object from falling. Tactile feedback is used to obtai...
Citation
Montaño, A., Suarez, R. Manipulation of unknown objects to improve the grasp quality using tactile information. "Sensors", 3 Maig 2018, vol. 18, núm. 5. p.1412
Keywords
Robotic manipulation, grasp quality, grasping, tactile manipulation, tactile sensors
Group of research
SIR - Service and Industrial Robotics

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