TY - GEN
T1 - An integrated approach towards robust grasping with tactile sensing
AU - Boutselis, George I.
AU - Bechlioulis, Charalampos P.
AU - Liarokapis, Minas V.
AU - Kyriakopoulos, Kostas J.
N1 - Publisher Copyright:
© 2014 IEEE.
PY - 2014/9/22
Y1 - 2014/9/22
N2 - The majority of the works on grasping consider both object as well as robot hand parameters to be accurately known and do not take into account the constraints imposed by the robot hand. In this paper, a complete methodology is proposed that handles the grasping problem under a wide range of uncertainties. Initially, we search for an acceptable posture that provides robustness against positioning inaccuracies and maximizes the ability of the robot hand to exert forces on the object. Subsequently, in order to secure the grasp stability, we also deal with the determination of sufficient contact forces. Finally, an appropriate tactile sensor setup, mounted on the robot hand, allow us to reduce the magnitude of uncertainty regarding the grasping parameters. The efficiency of our approach is validated through extensive experimental paradigms using a 15 DoF DLR/HIT II robotic hand attached at the end effector of a 7 DoF Mitsubishi PA10 robotic manipulator.
AB - The majority of the works on grasping consider both object as well as robot hand parameters to be accurately known and do not take into account the constraints imposed by the robot hand. In this paper, a complete methodology is proposed that handles the grasping problem under a wide range of uncertainties. Initially, we search for an acceptable posture that provides robustness against positioning inaccuracies and maximizes the ability of the robot hand to exert forces on the object. Subsequently, in order to secure the grasp stability, we also deal with the determination of sufficient contact forces. Finally, an appropriate tactile sensor setup, mounted on the robot hand, allow us to reduce the magnitude of uncertainty regarding the grasping parameters. The efficiency of our approach is validated through extensive experimental paradigms using a 15 DoF DLR/HIT II robotic hand attached at the end effector of a 7 DoF Mitsubishi PA10 robotic manipulator.
UR - http://www.scopus.com/inward/record.url?scp=84929192140&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84929192140&partnerID=8YFLogxK
U2 - 10.1109/ICRA.2014.6907392
DO - 10.1109/ICRA.2014.6907392
M3 - Conference contribution
AN - SCOPUS:84929192140
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 3682
EP - 3687
BT - Proceedings - IEEE International Conference on Robotics and Automation
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2014 IEEE International Conference on Robotics and Automation, ICRA 2014
Y2 - 31 May 2014 through 7 June 2014
ER -