Machine Learning
SMI '04 Proceedings of the Shape Modeling International 2004
Soft Finger Model with Adaptive Contact Geometry for Grasping and Manipulation Tasks
WHC '07 Proceedings of the Second Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems
Robotic Grasping of Novel Objects using Vision
International Journal of Robotics Research
Hand Posture Subspaces for Dexterous Robotic Grasping
International Journal of Robotics Research
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Data-driven grasping with partial sensor data
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Addressing pose uncertainty in manipulation planning using task space regions
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Learning grasping points with shape context
Robotics and Autonomous Systems
A new strategy combining empirical and analytical approaches for grasping unknown 3D objects
Robotics and Autonomous Systems
A strategy for grasping unknown objects based on co-planarity and colour information
Robotics and Autonomous Systems
Null-space grasp control: theory and experiments
IEEE Transactions on Robotics
An efficient RANSAC for 3D object recognition in noisy and occluded scenes
ACCV'10 Proceedings of the 10th Asian conference on Computer vision - Volume Part I
Autonomous Robots
Robust grasping under object pose uncertainty
Autonomous Robots
Characterization and simulation of tactile sensors
HAPTIC '10 Proceedings of the 2010 IEEE Haptics Symposium
Assessing Grasp Stability Based on Learning and Haptic Data
IEEE Transactions on Robotics
Using Bayesian Filtering to Localize Flexible Materials During Manipulation
IEEE Transactions on Robotics
Enabling grasping of unknown objects through a synergistic use of edge and surface information
International Journal of Robotics Research
Manipulation primitives: A paradigm for abstraction and execution of grasping and manipulation tasks
Robotics and Autonomous Systems
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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.