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Autonomous Robots

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01.04.2014

Stable grasping under pose uncertainty using tactile feedback

verfasst von: Hao Dang, Peter K. Allen

Erschienen in: Autonomous Robots | Ausgabe 4/2014

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Abstract

This paper deals with the problem of stable grasping under pose uncertainty. Our method utilizes tactile sensing data to estimate grasp stability and make necessary hand adjustments after an initial grasp is established. We first discuss a learning approach to estimating grasp stability based on tactile sensing data. This estimator can be used as an indicator to the stability of the current grasp during a grasping procedure. We then present a tactile experience based hand adjustment algorithm to synthesize a hand adjustment and optimize the hand pose to achieve a stable grasp. Experiments show that our method improves the grasping performance under pose uncertainty.

Vorheriger Artikel A robust and fast method for 6DoF motion estimation from generalized 3D data

Nächster Artikel Walking in the resonance with the COMAN robot with trajectories based on human kinematic motion primitives (kMPs)

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Titel: Stable grasping under pose uncertainty using tactile feedback
verfasst von: Hao Dang
Peter K. Allen
Publikationsdatum: 01.04.2014
Verlag: Springer US
Erschienen in: Autonomous Robots / Ausgabe 4/2014
Print ISSN: 0929-5593
Elektronische ISSN: 1573-7527
DOI: https://doi.org/10.1007/s10514-013-9355-y

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