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Improving grasping forces during the manipulation of unknown objects

Author
Montaño, A.; Suarez, R.
Type of activity
Presentation of work at congresses
Name of edition
2018 IEEE/RSJ International Conference on Intelligent Robots and Systems
Date of publication
2018
Presentation's date
2018-10-03
Book of congress proceedings
2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS): Towards a robotic society: October, 1-5, 2018, Madrid, Spain, Madrid Municipal Conference Centre
First page
3490
Last page
3495
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
DOI
https://doi.org/10.1109/IROS.2018.8593655 Open in new window
Project funding
Autonomous dexterous robots as coworkers with human operators
Repository
http://hdl.handle.net/2117/129429 Open in new window
URL
https://ieeexplore.ieee.org/document/8593655 Open in new window
Abstract
Many of the solutions proposed for the object manipulation problem are based on the knowledge of the object features. The approach proposed in this paper intends to provide a simple geometrical approach to securely manipulate an unknown object based only on tactile and kinematic information. The tactile and kinematic data obtained during the manipulation is used to recognize the object shape (at least the local object curvature), allowing to improve the grasping forces when this information is a...
Citation
Montaño, A.; Suarez, R. Improving grasping forces during the manipulation of unknown objects. A: IEEE/RSJ International Conference on Intelligent Robots and Systems. "2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)". Institute of Electrical and Electronics Engineers (IEEE), 2018, p. 3490-3495.
Keywords
Force, Grasping, Kinematics, Shape, Tactile sensors
Group of research
SIR - Service and Industrial Robotics

Participants

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