A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2017; you can also visit the original URL.
The file type is application/pdf.
Filters
A potential field approach to dexterous tactile exploration of unknown objects
2008
Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots
Preserved Fulltext
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
2009
2009 9th IEEE-RAS International Conference on Humanoid Robots
Preserved Fulltext
A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2017; you can also visit the original URL.
The file type is application/pdf.
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]
2009
Cognitive Systems Monographs
Preserved Fulltext
A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2013; you can also visit the original URL.
The file type is application/pdf.
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]
2017
Springer Proceedings in Advanced Robotics
Preserved Fulltext
A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2019; you can also visit the original URL.
The file type is application/pdf.
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]
2020
Service Robotics [Working Title]
Preserved Fulltext
A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2020; you can also visit the original URL.
The file type is application/pdf.
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
2015
Robotics and Autonomous Systems
Preserved Fulltext
A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2020; you can also visit the original URL.
The file type is application/pdf.
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
2018
Transactions of the Canadian Society for Mechanical Engineering
Preserved Fulltext
A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2018; you can also visit the original URL.
The file type is application/pdf.
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
2013
2013 13th IEEE-RAS International Conference on Humanoid Robots (Humanoids)
Preserved Fulltext
A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2017; you can also visit the original URL.
The file type is application/pdf.
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
2017
The International Journal of Advanced Manufacturing Technology
Preserved Fulltext
A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2018; you can also visit the original URL.
The file type is application/pdf.
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
2015
IEEE Access
Preserved Fulltext
A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2018; you can also visit the original URL.
The file type is application/pdf.
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]
2022
arXiv
pre-print
Preserved Fulltext
A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2022; you can also visit the original URL.
The file type is application/pdf.
Note that this fulltext copy is not of the "primary" version of this work. The version it corresponds to is:
2022 pre-print arXiv:2111.09354v2 fatcat:wwypmtfgszdkpl6jffdxjv7moyOther Versions
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
2015
2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids)
Preserved Fulltext
A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2017; you can also visit the original URL.
The file type is application/pdf.
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
Preserved Fulltext
A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2020; you can also visit the original URL.
The file type is application/pdf.
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
2017
Robotics and Autonomous Systems
Preserved Fulltext
A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2020; you can also visit the original URL.
The file type is application/pdf.
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
2013
Journal of Automation and Control Engineering
Preserved Fulltext
A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2020; you can also visit the original URL.
The file type is application/pdf.
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
« Previous
Showing results 1 — 15 out of 1,113 results