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A potential field approach to dexterous tactile exploration of unknown objects

A. Bierbaum, M. Rambow, T. Asfour, R. Dillmann
2008 Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots  
Haptic exploration of unknown objects is of great importance for acquiring multi-modal object representations, which enable a humanoid robot to autonomously execute grasping and manipulation tasks.  ...  The proposed strategy makes use of the dynamic potential field approach suggested in the context of mobile robot navigation.  ...  For robots and especially for humanoid robots, tactile perception is supplemental to the information given by visual perception and may directly be exploited to augment and stabilize a spatial representation  ... 
doi:10.1109/ichr.2008.4756005 dblp:conf/humanoids/BierbaumRAD08 fatcat:5lzvfcrc3vbtfbynsmyztx56wy

Grasp affordances from multi-fingered tactile exploration using dynamic potential fields

Alexander Bierbaum, Matthias Rambow, Tamim Asfour, Rudiger Dillmann
2009 2009 9th IEEE-RAS International Conference on Humanoid Robots  
In this paper, we address the problem of tactile exploration and subsequent extraction of grasp hypotheses for unknown objects with a multi-fingered anthropomorphic robot hand.  ...  We present extensions on our tactile exploration strategy for unknown objects based on a dynamic potential field approach resulting in selective exploration in regions of interest.  ...  ROBOT HAND KINEMATICS, CONTROL AND SENSORS For exploration and grasping we consider a setup comprising a 6-DoF manipulator arm with a five finger robot hand attached to its Tool Center Point (TCP).  ... 
doi:10.1109/ichr.2009.5379581 dblp:conf/humanoids/BierbaumR09 fatcat:632u37uy2bdtnjatp7pt5oyzb4

Dynamic Potential Fields for Dexterous Tactile Exploration [chapter]

Alexander Bierbaum, Tamim Asfour, Rüdiger Dillmann
2009 Cognitive Systems Monographs  
Haptic exploration of unknown objects is of great importance for acquiring multimodal object representations, which enable a humanoid robot to autonomously execute grasping and manipulation tasks.  ...  The proposed method is based on the dynamic potential fields which have originally been suggested in the context of mobile robot navigation.  ...  as with dynamic tactile exploration.  ... 
doi:10.1007/978-3-642-10403-9_3 fatcat:np5lelzu7febfjbky4cvt6klfu

ZMP Features for Touch Driven Robot Control via Tactile Servo [chapter]

Zhanat Kappassov, Juan-Antonio Corrales Ramon, Véronique Perdereau
2017 Springer Proceedings in Advanced Robotics  
In fact, a novel two-layered inverse tactile Jacobian matrix is developed in order to map errors of these features into cartesian errors required for touch-driven exploration and manipulation robotic tasks  ...  The performance of this new tactile servoing approach is demonstrated in several real experiments with a 6x14 tactile array mounted on a 7-dof robotic manipulator.  ...  for the help on working with the robot.  ... 
doi:10.1007/978-3-319-50115-4_21 dblp:conf/iser/KappassovRP16 fatcat:p5ksjal7p5epdev4nkbjactqmq

Safe Human-Robot Interaction Using Variable Stiffness, Hyper-Redundancy, and Smart Robotic Skins [chapter]

Pinar Boyraz Baykas, Ertugrul Bayraktar, Cihat Bora Yigit
2020 Service Robotics [Working Title]  
Although it is developed for a hyper-redundant endoscopic robotic platform, the artificial skin can also be integrated in service robotics to provide multimodal tactile feedback.  ...  We follow a holistic approach for inherent compliancy via mechanism design (i.e., variable stiffness), precise control (i.e., hyper-redundancy), and multimodal tactile perception (i.e., smart robotic-skins  ...  Tactile sensors for medical robotics In one of the recent surveys on state-of-the-art tactile sensing for minimally invasive surgery (MIS) [42] , it is clearly stated that the best place to include sensing  ... 
doi:10.5772/intechopen.92693 fatcat:7tu5xzq3vrhctcewrhrkkydqrm

Tactile sensing in dexterous robot hands — Review

Zhanat Kappassov, Juan-Antonio Corrales, Véronique Perdereau
2015 Robotics and Autonomous Systems  
Tactile sensing is an essential element of autonomous dexterous robot hand manipulation.  ...  Twenty eight various tactile sensors, each integrated into a robot hand, are classified in accordance with their transduction types and applications.  ...  Large area tactile skin There is a high demand for manipulators and humanoid robots whose whole surface is covered with tactile sensors [18] .  ... 
doi:10.1016/j.robot.2015.07.015 fatcat:lifzazooinf6xefcswgzb6pshi

Practical considerations on proprioceptive tactile sensing for underactuated fingers

Bruno Belzile, Lionel Birglen
2018 Transactions of the Canadian Society for Mechanical Engineering  
This paper is about one of these methods, namely proprioceptive tactile sensing, especially designed for underactuated fingers.  ...  With the same objective of reducing the costs of the components needed to provide a sensory feedback, several authors have worked on finding alternatives to external tactile sensors.  ...  Conventional tactile sensors, which are attached on the external surface of a robot, can generally be used, but they are often costly, insensible to dynamic phenomena, and inadequate in certain applications  ... 
doi:10.1139/tcsme-2017-0017 fatcat:7lmjasmmnbhz5aounanywxette

Rapid categorization of object properties from incidental contact with a tactile sensing robot arm

Tapomayukh Bhattacharjee, Ariel Kapusta, James M. Rehg, Charles C. Kemp
2013 2013 13th IEEE-RAS International Conference on Humanoid Robots (Humanoids)  
In a randomized cluttered environment of known object types and "outliers", our approach uses Hidden Markov Models to capture the dynamic robot-environment interactions and to categorize objects based  ...  We demonstrate that data-driven methods can be used to rapidly categorize objects encountered through incidental contact on a robot arm.  ...  We would like to thank Mark Cutkosky and the Stanford Biomimetics and Dexterous Manipulation Lab for their contributions to the forearm tactile skin sensor.  ... 
doi:10.1109/humanoids.2013.7029979 fatcat:usyi5frcbzejrjbuln2e6v5zpy

Adaptive tactile control for in-hand manipulation tasks of deformable objects

Angel Delgado, Carlos A. Jara, Fernando Torres
2017 The International Journal of Advanced Manufacturing Technology  
Tactile sensors are key components for a robot hand system, which are usually used to 10 obtain the object's features.  ...  Once 17 the object is classified, for in-hand manipulation tasks, the contact points between the object 18 grasped and the fingers are maintained using the information given by the tactile sensors in order  ...  In the field of robotic manipulation 34 with robot hands, two kinds of sensors are usually needed: vision and tactile sensors.  ... 
doi:10.1007/s00170-017-0046-2 fatcat:v4sbo34zt5colcyrsapumvhkf4

Sensors for Robotic Hands: A Survey of State of the Art

Artur Saudabayev, Huseyin Atakan Varol
2015 IEEE Access  
We also cover the sensors developed for robot hand usage in each era.  ...  In this paper, our goal is to provide a comprehensive survey of the sensors for artificial hands.  ...  Schmidt et al. presented a sensor comprised of static and dynamic tactile measurement components [105] for enabling human interaction and object exploration capabilities for robot hands.  ... 
doi:10.1109/access.2015.2482543 fatcat:nuogqh23mzecfmr7llvb4o4me4

Punyo-1: Soft tactile-sensing upper-body robot for large object manipulation and physical human interaction [article]

Aimee Goncalves, Naveen Kuppuswamy, Andrew Beaulieu, Avinash Uttamchandani, Katherine M. Tsui, Alex Alspach
2022 arXiv   pre-print
We present the design of a soft, tactile-sensing humanoid upper-body robot and demonstrate whole-body rich-contact manipulation strategies for handling large objects.  ...  localizing coverings for the arms, (ii) paws based on TRI's Soft-bubble sensors for the end effectors, and (iii) compliant force/geometry sensors for the coarse geometry sensing chest.  ...  ACKNOWLEDGEMENTS Thank you Sam Creasey, Tristan Whiting, Phoebe Horgan, Richard Denitto, Liam Rondon, Adeeb Abbas, and Sean Taylor for engineering, experimental, filming, and paper graphics support.  ... 
arXiv:2111.09354v3 fatcat:a6fiabaz4rbrvegdpz2d7kzn7u

Learning robot in-hand manipulation with tactile features

Herke van Hoof, Tucker Hermans, Gerhard Neumann, Jan Peters
2015 2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids)  
However, compliant hands and tactile sensors add complexity and are themselves difficult to model.  ...  Hence, we propose acquiring in-hand manipulation skills through reinforcement learning, which does not require analytic dynamics or kinematics models.  ...  Objects cannot always be picked up in these configurations; however, in-hand manipulation enables a robot to reconfigure an object [1] .  ... 
doi:10.1109/humanoids.2015.7363524 dblp:conf/humanoids/HoofHN015 fatcat:4cip4a6t7rgvjnvzmo7nalkc5q

Table of Contents

2020 IEEE Robotics and Automation Letters  
Hirata 6459 End-to-End Tactile Feedback Loop: From Soft Sensor Skin Over Deep GRU-Autoencoders to Tactile Stimulation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  ...  for an Anthropomorphic Robot Hand 5661 q-VAE for Disentangled Representation Learning and Latent Dynamical Systems .. . . . . . . . . . . . . . . . . . . . .  ... 
doi:10.1109/lra.2020.3030731 fatcat:kwx4xyitfbfuzgugbi5vavx2xu

Tactile control based on Gaussian images and its application in bi-manual manipulation of deformable objects

A. Delgado, J.A. Corrales, Y. Mezouar, L. Lequievre, C. Jara, F. Torres
2017 Robotics and Autonomous Systems  
Tactile images are obtained using a combination of dynamic Gaussians, which allows the creation of a common representation for tactile data given by different sensors with different technologies and resolutions  ...  Abstract: The field of in-hand robot manipulation of deformable objects is an open and key issue for the next-coming robots.  ...  a robot manipulator.  ... 
doi:10.1016/j.robot.2017.04.017 fatcat:g2kopdzhqfh4ndtz2lsazyn374

On the Development of a Specialized Flexible Gripper for Garment Handling

Thuy-Hong-Loan Le, Michal Jilich, Alberto Landini, Matteo Zoppi, Dimiter Zlatanov, Rezia Molfino
2013 Journal of Automation and Control Engineering  
This is to be achieved by a vision system, which is part of the robotic work cell, in combination with tactile sensors embedded in the fingertips of the gripper.  ...  In this paper, we discuss ongoing work on the development of a new griper for garments handling and manipulation tasks.  ...  This work was supported by a grant from European project CLoPeMa (Clothes Perception and Manipulation).  ... 
doi:10.12720/joace.1.3.255-259 fatcat:dcg5d2citnftjnbtjknnkjs3i4
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