Grasping and Manipulation of Unknown Objects Based on Visual and Tactile Feedback

Haschke R (2015)
In: Motion and Operation Planning of Robotic Systems. Carbone G, Gomez-Bravo F (Eds); Mechanisms and Machine Science, 29. Switzerland: Springer: 91-109.

Sammelwerksbeitrag | Veröffentlicht | Englisch
 
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Carbone, G.; Gomez-Bravo, F.
Abstract / Bemerkung
The sense of touch allows humans and higher animals to perform coordinated and efficient interactions within their environment. Recently, tactile sensor arrays providing high force, spatial, and temporal resolution became available for robotics, which allows us to consider new control strategies to exploit this important and valuable sensory channel for grasping and manipulation tasks. Successful dexterous manipulation strongly depends on tight feedback loops integrating proprioceptive, visual, and tactile feedback. We introduce a framework for tactile servoing that can realize specific tactile interaction patterns, for example to establish and maintain contact (grasping) or to explore and manipulate objects. We demonstrate and evaluate the capabilities of the proposed control framework in a series of preliminary experiments employing a 16 × 16 tactile sensor array attached to a Kuka LWR arm as a large fingertip.
Stichworte
GraspingTactile servoingOnline motion planning
Erscheinungsjahr
2015
Buchtitel
Motion and Operation Planning of Robotic Systems
Serientitel
Mechanisms and Machine Science
Band
29
Seite(n)
91-109
ISBN
9783319147048
ISSN
2211-0984
Page URI
https://pub.uni-bielefeld.de/record/2726548

Zitieren

Haschke R. Grasping and Manipulation of Unknown Objects Based on Visual and Tactile Feedback. In: Carbone G, Gomez-Bravo F, eds. Motion and Operation Planning of Robotic Systems. Mechanisms and Machine Science. Vol 29. Switzerland: Springer; 2015: 91-109.
Haschke, R. (2015). Grasping and Manipulation of Unknown Objects Based on Visual and Tactile Feedback. In G. Carbone & F. Gomez-Bravo (Eds.), Mechanisms and Machine Science: Vol. 29. Motion and Operation Planning of Robotic Systems (pp. 91-109). Switzerland: Springer. https://doi.org/10.1007/978-3-319-14705-5_4
Haschke, Robert. 2015. “Grasping and Manipulation of Unknown Objects Based on Visual and Tactile Feedback”. In Motion and Operation Planning of Robotic Systems, ed. G. Carbone and F. Gomez-Bravo, 29:91-109. Mechanisms and Machine Science. Switzerland: Springer.
Haschke, R. (2015). “Grasping and Manipulation of Unknown Objects Based on Visual and Tactile Feedback” in Motion and Operation Planning of Robotic Systems, Carbone, G., and Gomez-Bravo, F. eds. Mechanisms and Machine Science, vol. 29, (Switzerland: Springer), 91-109.
Haschke, R., 2015. Grasping and Manipulation of Unknown Objects Based on Visual and Tactile Feedback. In G. Carbone & F. Gomez-Bravo, eds. Motion and Operation Planning of Robotic Systems. Mechanisms and Machine Science. no.29 Switzerland: Springer, pp. 91-109.
R. Haschke, “Grasping and Manipulation of Unknown Objects Based on Visual and Tactile Feedback”, Motion and Operation Planning of Robotic Systems, G. Carbone and F. Gomez-Bravo, eds., Mechanisms and Machine Science, vol. 29, Switzerland: Springer, 2015, pp.91-109.
Haschke, R.: Grasping and Manipulation of Unknown Objects Based on Visual and Tactile Feedback. In: Carbone, G. and Gomez-Bravo, F. (eds.) Motion and Operation Planning of Robotic Systems. Mechanisms and Machine Science. 29, p. 91-109. Springer, Switzerland (2015).
Haschke, Robert. “Grasping and Manipulation of Unknown Objects Based on Visual and Tactile Feedback”. Motion and Operation Planning of Robotic Systems. Ed. G. Carbone and F. Gomez-Bravo. Switzerland: Springer, 2015.Vol. 29. Mechanisms and Machine Science. 91-109.
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OA Open Access
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2019-09-06T09:18:30Z
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