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On the synthesis of feasible and prehensile robotic grasps

Carlos Rosales, Raul Suarez, Marco Gabiccini, Antonio Bicchi
2012 2012 IEEE International Conference on Robotics and Automation  
This provides a proper framework to synthesize a feasible and prehensile grasp by considering simultaneously the necessary grasping constraints, including contact reachability, object restraint, and force  ...  To overcome this issue, we present a kinestatic formulation of the grasp synthesis problem that introduces compliance both at the joints and the contacts.  ...  KINESTATIC FORMULATION OF THE GRASP SYNTHESIS PROBLEM The grasp synthesis problem consist of finding a feasible and prehensile grasp configuration.  ... 
doi:10.1109/icra.2012.6225238 dblp:conf/icra/RosalesSGB12 fatcat:wghreijwzvbazijfwe7fyhakpe

Distributed grasp synthesis for swarm manipulation with applications to autonomous tugboats

Joel M. Esposito
2008 2008 IEEE International Conference on Robotics and Automation  
Inspired by the literature on multi-fingered hands, we synthesize a grasp by incrementally optimizing a grasp quality function.  ...  Assume a swarm of mobile robots is in the act of transporting a large object in the plane, by applying unilateral forces to the perimeter of that object.  ...  Fig. 4 . 4 Grasp synthesis example with 6 robots. (Left) A group of 5 robots (blue/circle line segments) grasps a rectangular object.  ... 
doi:10.1109/robot.2008.4543412 dblp:conf/icra/Esposito08 fatcat:dq74wzyxszanboefkhmupzjtem

A framework for compliant physical interaction

Mario Prats, Pedro J. Sanz, Angel P. del Pobil
2009 Autonomous Robots  
We propose a global sensor-based framework for the specification and robust control of physical interaction tasks, where the grasp and the task are jointly considered on the basis of the task frame formalism  ...  Finally, several applications are described, showing the versatility of the proposed approach, and its suitability for the fast implementation of robust physical interaction tasks in very different robotic  ...  This research was partly supported by the Korea Science and Engineering Foundation under the WCU (World Class University) program funded by the Ministry of Education, Science and Technology, S.  ... 
doi:10.1007/s10514-009-9145-8 fatcat:3aomzg66pjd4lbanfval3sm3my

Analysis of a Biomimetic Anthropomorphic Robotic Hand/Prosthetic

Omkar Madure
2019 International Journal for Research in Applied Science and Engineering Technology  
It attempts to follow the various steps taken, from the analysis and classification of various grasp methods to their kinematic modelling, and ultimately, its incorporation in a biomimetic anthropomorphic  ...  This analysis aims at understanding the natural methods by which we manipulate and grasp daily objects, and how this knowledge will play a pivotal role in adapting the human hand structure in a prosthetic  ...  Fig2 Fig2: Structure of Human hand ©IJRASET: All Rights are Reserved Emphasis On Security, Stability Power Non-Prehensile Prehensile Grasp Clamping Clamping Not Required Required emphasis  ... 
doi:10.22214/ijraset.2019.10001 fatcat:aefp2cn5hnebrofaghsjtab23y

Review of Deep Reinforcement Learning-based Object Grasping: Techniques, Open Challenges and Recommendations

Marwan Qaid Mohammed, Kwek Lee Chung, Chua Shing Chyi
2020 IEEE Access  
This review refers to all relevant articles on deep reinforcement learning-based object manipulation and solutions. The object grasping issue is a major manipulation challenge.  ...  Several studies have proposed that object grasping and its subtypes are the main elements in dealing with the environment and agent.  ...  robot behaviour generation  Discussed the challenges and successes of applying reinforcement learning to robots 2016 [41]  Focused on data-driven grasp synthesis and the methodologies for sampling  ... 
doi:10.1109/access.2020.3027923 fatcat:44xyylmy7fhirjept76wm6uaeq

Characterization of the precision manipulation capabilities of robot hands via the continuous group of displacements

Nicolas Rojas, Aaron M. Dollar
2014 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems  
This task is classified in the hand-centric taxonomy of manipulation as within-hand prehensile manipulation with no motion at contact.  ...  During precision manipulation, a grasped object is repositioned within the hand workspace without breaking or changing contact.  ...  Top: A 2F-2RR robot hand grasping an object with the notation used for the analysis of its within-hand prehensile manipulation capabilities (with no motion at contact).  ... 
doi:10.1109/iros.2014.6942769 dblp:conf/iros/RojasD14 fatcat:wzr4hpqycnhl5jfvo6fob3g6wm

A grasp synthesis algorithm based on postural synergies for an anthropomorphic arm-hand robotic system

Antonio Provenzale, Francesca Cordella, Loredana Zollo, Angelo Davalli, Rinaldo Sacchetti, Eugenio Guglielmelli
2014 5th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics  
The grasp synthesis algorithm has been validated in simulation and on a real arm-hand robotic platform consisting of the KUKA LWR 4+ robot arm and the DLR-HIT Hand II.  ...  by the grasp synthesis algorithm.  ...  ACKNOWLEDGMENT This work was supported partly by the Italian Ministry of Instruction, University and Research with PRIN Hand-Bot project (CUP: B81J12002680008), partly by the Italian Ministry of Health  ... 
doi:10.1109/biorob.2014.6913904 dblp:conf/biorob/ProvenzaleCZDSG14 fatcat:amrrurjcp5bijkx27kfgggxrfa

Data-Driven Grasp Synthesis—A Survey

Jeannette Bohg, Antonio Morales, Tamim Asfour, Danica Kragic
2014 IEEE Transactions on robotics  
We review the work on data-driven grasp synthesis and the methodologies for sampling and ranking candidate grasps.  ...  Our survey provides an overview of the different methodologies and discusses open problems in the area of robot grasping.  ...  [10] adopt the same model of compliance to synthesize feasible and prehensile grasps. In this case, only statically-determinate grasps are considered.  ... 
doi:10.1109/tro.2013.2289018 fatcat:kvm53bbmq5ebvdj4q3kqmoqjmy

Learning and Evaluation of the Approach Vector for Automatic Grasp Generation and Planning

Staffan Ekvall, Danica Kragic
2007 Engineering of Complex Computer Systems (ICECCS), Proceedings of the IEEE International Conference on  
One of the main challenges in automatic grasping is the choice of the object approach vector, which is dependent both on the object shape and pose as well as the grasp type.  ...  The system first recognizes the object and grasp type which can then be used by the robot to perform the same action using a mapped version of the human grasping posture.  ...  Considering specifically object manipulation tasks, the work on automatic grasp synthesis and planning is of significant relevance, [4] , [5] , [6] , [7] .  ... 
doi:10.1109/robot.2007.364205 dblp:conf/icra/EkvallK07 fatcat:ongbofkukfhnpial7vvchmbbgu

Whole-hand kinesthetic feedback and haptic perception in dextrous virtual manipulation

C.S. Tzafestas
2003 IEEE transactions on systems, man and cybernetics. Part A. Systems and humans  
The work presented here focuses on two issues: 1) the synthesis of whole-hand kinesthetic feedback, based on the application of forces (torques) on individual phalanges (joints) of the human hand, and  ...  A series of experiments is reported concerning the perception of weight of manipulated virtual objects and the obtained results demonstrate the feasibility of the concept.  ...  on the human hand and contribution of each individual finger and phalanx during various types of natural prehensile actions.  ... 
doi:10.1109/tsmca.2003.812600 fatcat:3gbznradsfevdn2gwijfnfaz6q

Bio-inspired motion strategies for a bimanual manipulation task

Jan Steffen, Christof Elbrechter, Robert Haschke, Helge Ritter
2010 2010 10th IEEE-RAS International Conference on Humanoid Robots  
We consider the complex task of coordinating two five-fingered anthropomorphic robot hands for taking a jar passed from a human user and unscrewing its cap.  ...  In addition, we provide a brief description of the architecture of the overall system that comprises 54 motor degrees of freedom and integrates camera vision, arm and finger control as well as a speech  ...  Further on, the authors thank Matthias Zenker for his technical support and his help with the video production.  ... 
doi:10.1109/ichr.2010.5686830 dblp:conf/humanoids/SteffenEHR10 fatcat:taun3wucorendhbxotvldxyb2q

On the representation of anthropomorphic robot hands: Shape versus function

Ravin de Souza, Alexandre Bernardino, Jose Santos-Victor, Aude Billard
2012 2012 12th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2012)  
We approach hand configuration from the perspective of ultimate hand function and propose 2 parameterizations based on the ability of the hand to engage oppositional forces.  ...  We trust that these "functional parameterizations" can bridge the contrasting goals of task-oriented robotic grasping, that of controlling a dexterous robot hand to manifest hand-shape but with the ability  ...  INTRODUCTION The goal of any robotic grasping framework is the generation of a stable grasp that is both, feasible for a robotic hand to execute and suitable for achieving a specific task.  ... 
doi:10.1109/humanoids.2012.6651610 dblp:conf/humanoids/SouzaBSB12 fatcat:bedog47agve4dlnjnxln26vjpq

Learning robotic eye–arm–hand coordination from human demonstration: a coupled dynamical systems approach

Luka Lukic, José Santos-Victor, Aude Billard
2014 Biological cybernetics  
We investigate the role of obstacle avoidance in visually guided reaching and grasping movements.  ...  We report on a human study in which subjects performed prehensile motion with obstacle avoidance where the position of the obstacle was systematically varied across trials.  ...  To demonstrate the feasibility of using this mechanism for robot control, we implement our model to control visually guided prehensile motion in the iCub humanoid robot.  ... 
doi:10.1007/s00422-014-0591-9 pmid:24570352 fatcat:ijpwd35lfnb6xknqjs5fqudb4i

Demonstration-based learning and control for automatic grasping

Johan Tegin, Staffan Ekvall, Danica Kragic, Jan Wikander, Boyko Iliev
2008 Intelligent Service Robotics  
The system first recognizes the grasp performed by a demonstrator as well as the object it is applied on and then generates a suitable grasping strategy on the robot.  ...  We continue by performing dynamic simulation of the grasp execution with a focus on grasping objects whose pose is not perfectly known.  ...  INTRODUCTION Robust grasping and manipulation of objects is one of the key research areas in the field of robotics.  ... 
doi:10.1007/s11370-008-0026-3 fatcat:5mjuuxaizfbr7eyw5frexzlvdi

A Quasi-static Model and Simulation Approach for Pushing, Grasping, and Jamming [article]

Mathew Halm, Michael Posa
2019 arXiv   pre-print
Quasi-static models of robotic motion with frictional contact provide a computationally efficient framework for analysis and have been widely used for planning and control of non-prehensile manipulation  ...  While quasi-static models have traditionally been unable to capture grasping and jamming behaviors, our approach solves this issue by explicitly modeling the limiting behavior of a velocity-controlled  ...  Grasping and jamming objects is crucial for a wide range of robot tasks, and much work has been devoted to planning and controlling action before and after grasping events (e.g.  ... 
arXiv:1902.03487v1 fatcat:h2hjkssrwjaebdntsyqclcfyia
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