Manipulation of Unknown Objects to Improve the Grasp Quality Using Tactile Information
This work presents a novel and simple approach in the area of manipulation of unknown objects considering both geometric and mechanical constraints of the robotic hand. Starting with an initial blind grasp, our method improves the grasp quality through manipulation considering the three common goals...
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2018-05-01
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Online Access: | http://www.mdpi.com/1424-8220/18/5/1412 |
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doaj-34a54b31be8740aeafe414f87b0026ca2020-11-24T21:11:29ZengMDPI AGSensors1424-82202018-05-01185141210.3390/s18051412s18051412Manipulation of Unknown Objects to Improve the Grasp Quality Using Tactile InformationAndrés Montaño0Raúl Suárez1Institute of Industrial and Control Engineering (IOC), Universitat Politècnica de Catalunya (UPC), 08028 Barcelona, SpainInstitute of Industrial and Control Engineering (IOC), Universitat Politècnica de Catalunya (UPC), 08028 Barcelona, SpainThis work presents a novel and simple approach in the area of manipulation of unknown objects considering both geometric and mechanical constraints of the robotic hand. Starting with an initial blind grasp, our method improves the grasp quality through manipulation considering the three common goals of the manipulation process: improving the hand configuration, the grasp quality and the object positioning, and, at the same time, prevents the object from falling. Tactile feedback is used to obtain local information of the contacts between the fingertips and the object, and no additional exteroceptive feedback sources are considered in the approach. The main novelty of this work lies in the fact that the grasp optimization is performed on-line as a reactive procedure using the tactile and kinematic information obtained during the manipulation. Experimental results are shown to illustrate the efficiency of the approach.http://www.mdpi.com/1424-8220/18/5/1412robotic manipulationgraspinggrasp qualitytactile sensorstactile manipulation |
collection |
DOAJ |
language |
English |
format |
Article |
sources |
DOAJ |
author |
Andrés Montaño Raúl Suárez |
spellingShingle |
Andrés Montaño Raúl Suárez Manipulation of Unknown Objects to Improve the Grasp Quality Using Tactile Information Sensors robotic manipulation grasping grasp quality tactile sensors tactile manipulation |
author_facet |
Andrés Montaño Raúl Suárez |
author_sort |
Andrés Montaño |
title |
Manipulation of Unknown Objects to Improve the Grasp Quality Using Tactile Information |
title_short |
Manipulation of Unknown Objects to Improve the Grasp Quality Using Tactile Information |
title_full |
Manipulation of Unknown Objects to Improve the Grasp Quality Using Tactile Information |
title_fullStr |
Manipulation of Unknown Objects to Improve the Grasp Quality Using Tactile Information |
title_full_unstemmed |
Manipulation of Unknown Objects to Improve the Grasp Quality Using Tactile Information |
title_sort |
manipulation of unknown objects to improve the grasp quality using tactile information |
publisher |
MDPI AG |
series |
Sensors |
issn |
1424-8220 |
publishDate |
2018-05-01 |
description |
This work presents a novel and simple approach in the area of manipulation of unknown objects considering both geometric and mechanical constraints of the robotic hand. Starting with an initial blind grasp, our method improves the grasp quality through manipulation considering the three common goals of the manipulation process: improving the hand configuration, the grasp quality and the object positioning, and, at the same time, prevents the object from falling. Tactile feedback is used to obtain local information of the contacts between the fingertips and the object, and no additional exteroceptive feedback sources are considered in the approach. The main novelty of this work lies in the fact that the grasp optimization is performed on-line as a reactive procedure using the tactile and kinematic information obtained during the manipulation. Experimental results are shown to illustrate the efficiency of the approach. |
topic |
robotic manipulation grasping grasp quality tactile sensors tactile manipulation |
url |
http://www.mdpi.com/1424-8220/18/5/1412 |
work_keys_str_mv |
AT andresmontano manipulationofunknownobjectstoimprovethegraspqualityusingtactileinformation AT raulsuarez manipulationofunknownobjectstoimprovethegraspqualityusingtactileinformation |
_version_ |
1716753175921295360 |