[go: up one dir, main page]
More Web Proxy on the site http://driver.im/

Liarokapis et al., 2017 - Google Patents

Deriving dexterous, in-hand manipulation primitives for adaptive robot hands

Liarokapis et al., 2017

View PDF
Document ID
6083881415070392234
Author
Liarokapis M
Dollar A
Publication year
Publication venue
2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

External Links

Snippet

Adaptive robot hands have changed the way we approach and think of robot grasping and manipulation. Traditionally, pinch, fingertip grasping and dexterous, in-hand manipulation tasks were executed with fully actuated, rigid robot hands and relied on analytic methods …
Continue reading at drive.google.com (PDF) (other versions)

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B25J9/1697—Vision controlled systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1628—Programme controls characterised by the control loop
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1612—Programme controls characterised by the hand, wrist, grip control
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40053—Pick 3-D object from pile of objects
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/02—Gripping heads and other end effectors servo-actuated
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand

Similar Documents

Publication Publication Date Title
Liarokapis et al. Deriving dexterous, in-hand manipulation primitives for adaptive robot hands
Marwan et al. Comprehensive review on reaching and grasping of objects in robotics
Li et al. Survey on mapping human hand motion to robotic hands for teleoperation
Aleotti et al. Grasp recognition in virtual reality for robot pregrasp planning by demonstration
US9321176B1 (en) Systems and methods for planning a robot grasp based upon a demonstrated grasp
Odhner et al. Open-loop precision grasping with underactuated hands inspired by a human manipulation strategy
Bicchi Hands for dexterous manipulation and robust grasping: A difficult road toward simplicity
Ekvall et al. Learning and evaluation of the approach vector for automatic grasp generation and planning
Suárez-Ruiz et al. A framework for fine robotic assembly
Bezak et al. Advanced robotic grasping system using deep learning
Liarokapis et al. Functional anthropomorphism for human to robot motion mapping
Suzuki et al. Grasping of unknown objects on a planar surface using a single depth image
Liarokapis et al. Combining analytical modeling and learning to simplify dexterous manipulation with adaptive robot hands
Liarokapis et al. Learning task-specific models for dexterous, in-hand manipulation with simple, adaptive robot hands
Omrčen et al. Autonomous acquisition of pushing actions to support object grasping with a humanoid robot
McCann et al. The stewart hand: A highly dexterous, six-degrees-of-freedom manipulator based on the stewart-gough platform
Sampath et al. Review on human-like robot manipulation using dexterous hands.
Jaquier et al. Analysis and transfer of human movement manipulability in industry-like activities
Liarokapis et al. Learning the post-contact reconfiguration of the hand object system for adaptive grasping mechanisms
Hidalgo-Carvajal et al. Anthropomorphic grasping with neural object shape completion
Krug et al. Velvet fingers: Grasp planning and execution for an underactuated gripper with active surfaces
Kadalagere Sampath et al. Review on human‐like robot manipulation using dexterous hands
Wang et al. Robot programming by demonstration with a monocular RGB camera
Si et al. Tilde: Teleoperation for dexterous in-hand manipulation learning with a deltahand
Mannam et al. Designing anthropomorphic soft hands through interaction