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

Gil et al., 2016 - Google Patents

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

Gil et al., 2016

View PDF
Document ID
1476471258652310766
Author
Gil P
Mateo C
Delgado A
Torres F
Publication year
Publication venue
Proceedings of ISR 2016: 47st International Symposium on Robotics

External Links

Snippet

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 …
Continue reading at www.researchgate.net (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
    • 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
    • G05B2219/40611—Camera to monitor endpoint, end effector position
    • 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
    • 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
    • G05B2219/39—Robotics, robotics to robotics hand
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • 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
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING; COUNTING
    • G06F—ELECTRICAL DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
    • 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

Similar Documents

Publication Publication Date Title
Costanzo et al. Two-fingered in-hand object handling based on force/tactile feedback
CN108858193B (en) Mechanical arm grabbing method and system
Platt et al. Null-space grasp control: Theory and experiments
JP2009269127A (en) Holding device and method of controlling the same
EP3903080B1 (en) Tactile sensor
Delgado et al. In-hand recognition and manipulation of elastic objects using a servo-tactile control strategy
Koyama et al. Integrated control of a multi-fingered hand and arm using proximity sensors on the fingertips
Su et al. Robust grasping for an under-actuated anthropomorphic hand under object position uncertainty
Back et al. Control a contact sensing finger for surface haptic exploration
Delgado et al. Adaptive tactile control for in-hand manipulation tasks of deformable objects
Gil et al. Visual/Tactile sensing to monitor grasps with robot-hand for planar elastic objects
Delgado et al. A tactile-based grasping strategy for deformable objects' manipulation and deformability estimation
Kofman et al. Robot-manipulator teleoperation by markerless vision-based hand-arm tracking
Lee et al. Haptic search with the smart suction cup on adversarial objects
Lach et al. Placing by Touching: An empirical study on the importance of tactile sensing for precise object placing
Pfanne et al. EKF-based in-hand object localization from joint position and torque measurements
Doulgeri et al. On rolling contact motion by robotic fingers via prescribed performance control
Schiebener et al. Discovery, segmentation and reactive grasping of unknown objects
JP7278491B2 (en) Elastomer tactile sensor
Kim et al. 6-dof robot arm visual servoing with canny edge-based object detection
Kawasaki et al. Virtual robot teaching for humanoid hand robot using muti-fingered haptic interface
Roa et al. Influence of contact types and uncertainties in the computation of independent contact regions
Rosales et al. Active gathering of frictional properties from objects
Gil et al. Visual/Tactile-based sensing strategy for grasping of planar non-rigid objects
Fallahinia et al. Comparison of constrained and unconstrained human grasp forces using fingernail imaging and visual servoing