Hierarchical Fingertip Space for Synthesizing Adaptable Fingertip Grasps
Poster (konferens), 2014

The ability to synthesize and execute fingertip grasps are bases for dexterous in-hand manipulation. Reliable fingertip grasping is difficult to achieve due to noise and uncertainties in object and hand model, as well as hand control etc. Moreover, in many cases it is desirable to employ an adaptive approach that can deal with changed external forces. In this paper, we propose an approach to jointly optimize stability, adaptability, and reachability of grasps using combinatorial optimization for a hierarchical representation of the fingertip space. To illustrate our approach, we demonstrate an example synthesized by the proposed framework and executed by an Allegro hand. We also show how it is adapted when a perturbation is applied.

grasping and manipulation, force and tactile sensing, grasp adaptation

Författare

Kaiyu Hang

Kungliga Tekniska Högskolan (KTH)

Miao Li

Ecole Polytech Federate Lausanne EPFL

Johannes Stork

Kungliga Tekniska Högskolan (KTH)

Yasemin Bekiroglu

Chalmers, Signaler och system, System- och reglerteknik, Reglerteknik

Aude Billard

Ecole Polytech Federate Lausanne EPFL

Danica Kragic

Kungliga Tekniska Högskolan (KTH)

CRA 2014 Workshop: Autonomous Grasping and Manipulation: An Open Challenge
Hong Kong, ,

Ämneskategorier

Robotteknik och automation

Datavetenskap (datalogi)

Datorseende och robotik (autonoma system)

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Skapat

2020-09-02