Grasp Stability Prediction for a Dexterous Robotic Hand Combining Depth Vision and Haptic Bayesian Exploration

Grasp Stability Prediction for a Dexterous Robotic Hand Combining Depth Vision and Haptic Bayesian Exploration

Grasp stability prediction of unknown objects is crucial to enable autonomous robotic manipulation in an unstructured environment. Even if prior information about the object is available, real-time local exploration might be necessary to mitigate object modelling inaccuracies. This paper presents an...

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Bibliographic Details
Main Authors: Muhammad Sami Siddiqui, Claudio Coppola, Gokhan Solak, Lorenzo Jamone
Format: Article
Language:English
Published: Frontiers Media S.A. 2021-08-01
Series:Frontiers in Robotics and AI
Subjects:
grasping
manipulation
dexterous hand
haptics
grasp metric
exploration
Online Access:https://www.frontiersin.org/articles/10.3389/frobt.2021.703869/full

Internet

https://www.frontiersin.org/articles/10.3389/frobt.2021.703869/full

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