| 1. |
- Li, Miao, et al.
(author)
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Learning of Grasp Adaptation through Experience and Tactile Sensing
- 2014
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In: IEEE/RSJ International Conference on Intelligent Robots and Systems. - 2153-0858 .- 2153-0866.
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Conference paper (peer-reviewed)abstract
- To perform robust grasping, a multi-fingered robotic hand should be able to adapt its grasping configuration, i.e., how the object is grasped, to maintain the stability of the grasp. Such a change of grasp configuration is called grasp adaptation and it depends on the controller, the employed sensory feedback and the type of uncertainties inherit to the problem. This paper proposes a grasp adaptation strategy to deal with uncertainties about physical properties of objects, such as the object weight and the friction at the contact points. Based on an object-level impedance controller, a grasp stability estimator is first learned in the object frame. Once a grasp is predicted to be unstable by the stability estimator, a grasp adaptation strategy is triggered according to the similarity between the new grasp and the training examples. Experimental results demonstrate that our method improves the grasping performance on novel objects with different physical properties from those used for training.
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| 2. |
- Almeida, Diogo, 1991-, et al.
(author)
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Dexterous manipulation with compliant grasps and external contacts
- 2017
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In: IEEE International Conference on Intelligent Robots and Systems. - : IEEE. - 2153-0858 .- 2153-0866. ; 2017-September, s. 1913-1920
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Conference paper (peer-reviewed)abstract
- We propose a method that allows for dexterous manipulation of an object by exploiting contact with an external surface. The technique requires a compliant grasp, enabling the motion of the object in the robot hand while allowing for significant contact forces to be present on the external surface. We show that under this type of grasp it is possible to estimate and control the pose of the object with respect to the surface, leveraging the trade-off between force control and manipulative dexterity. The method is independent of the object geometry, relying only on the assumptions of type of grasp and the existence of a contact with a known surface. Furthermore, by adapting the estimated grasp compliance, the method can handle unmodelled effects. The approach is demonstrated and evaluated with experiments on object pose regulation and pivoting against a rigid surface, where a mechanical spring provides the required compliance.
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| 3. |
- Björkman, Mårten, 1970-, et al.
(author)
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Enhancing Visual Perception of Shape through Tactile Glances
- 2013
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In: Intelligent Robots and Systems (IROS), 2013 IEEE/RSJ International Conference on. - : IEEE conference proceedings. - 2153-0866 .- 2153-0858. - 9781467363587 ; , s. 3180-3186
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Conference paper (peer-reviewed)abstract
- Object shape information is an important parameter in robot grasping tasks. However, it may be difficult to obtain accurate models of novel objects due to incomplete and noisy sensory measurements. In addition, object shape may change due to frequent interaction with the object (cereal boxes, etc). In this paper, we present a probabilistic approach for learning object models based on visual and tactile perception through physical interaction with an object. Our robot explores unknown objects by touching them strategically at parts that are uncertain in terms of shape. The robot starts by using only visual features to form an initial hypothesis about the object shape, then gradually adds tactile measurements to refine the object model. Our experiments involve ten objects of varying shapes and sizes in a real setup. The results show that our method is capable of choosing a small number of touches to construct object models similar to real object shapes and to determine similarities among acquired models.
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| 4. |
- Chen, Yiting, et al.
(author)
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Sliding Touch-Based Exploration for Modeling Unknown Object Shape with Multi-Fingered Hands
- 2023
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In: IEEE International Conference on Intelligent Robots and Systems. - 2153-0858 .- 2153-0866. ; , s. 8943-8950
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Conference paper (peer-reviewed)abstract
- Efficient and accurate 3D object shape reconstruction contributes significantly to the success of a robot's physical interaction with its environment. Acquiring accurate shape information about unknown objects is challenging, especially in unstructured environments, e.g. the vision sensors may only be able to provide a partial view. To address this issue, tactile sensors could be employed to extract local surface information for more robust unknown object shape estimation. In this paper, we propose a novel approach for efficient unknown 3D object shape exploration and reconstruction using a multi-fingered hand equipped with tactile sensors and a depth camera only providing a partial view. We present a multi-finger sliding touch strategy for efficient shape exploration using a Bayesian Optimization approach and a single-leader-multi-follower strategy for multi-finger smooth local surface perception. We evaluate our proposed method by estimating the 3D shape of objects from the YCB and OCRTOC datasets based on simulation and real robot experiments. The proposed approach yields successful reconstruction results relying on only a few continuous sliding touches. Experimental results demonstrate that our method is able to model unknown objects in an efficient and accurate way.
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| 5. |
- Cho, Jang Ho, et al.
(author)
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Design of an Intermediate Layer to Enhance Operator Awareness and Safety in Telesurgical Systems
- 2012
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In: Proc. 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2012), October 7-12, 2012. Vilamoura, Algarve, Portugal. - 2153-0858 .- 2153-0866. ; , s. 1292-1297
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Conference paper (peer-reviewed)abstract
- This paper presents a novel control architecture for enhanced operator awareness and improved safety in telesurgical systems. We introduce an intermediate layer between the master and slave sides which allows us to modify the slave motion for safety and the force feedback for operator awareness. The intermediate layer is then designed with a performance objective for the specific task at hand. The control scheme is validated via experiments using a suture and an industrial manipulator. More specifically we show that operator awareness should be implemented as an integrated part of the safety level to maintain safety during surgery.
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| 6. |
- Diehl, Maximilian, 1995, et al.
(author)
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Automated Generation of Robotic Planning Domains from Observations
- 2021
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In: IEEE International Conference on Intelligent Robots and Systems. - 2153-0858 .- 2153-0866. ; , s. 6732-6738
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Conference paper (peer-reviewed)abstract
- Automated planning enables robots to find plans to achieve complex, long-horizon tasks, given a planning domain. This planning domain consists of a list of actions, with their associated preconditions and effects, and is usually manually defined by a human expert, which is very time-consuming or even infeasible. In this paper, we introduce a novel method for generating this domain automatically from human demonstrations. First, we automatically segment and recognize the different observed actions from human demonstrations. From these demonstrations, the relevant preconditions and effects are obtained, and the associated planning operators are generated. Finally, a sequence of actions that satisfies a user-defined goal can be planned using a symbolic planner. The generated plan is executed in a simulated environment by the TIAGo robot. We tested our method on a dataset of 12 demonstrations collected from three different participants. The results show that our method is able to generate executable plans from using one single demonstration with a 92% success rate, and 100% when the information from all demonstrations are included, even for previously unknown stacking goals.
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| 7. |
- Droukas, Leonidas, et al.
(author)
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Force/Position/Rolling Control For Spherical Tip Robotic Fingers
- 2015
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In: IEEE International Conference on Intelligent Robots and Systems. - 2153-0858 .- 2153-0866. - 9781479999941 ; 2015-December, s. 858-863
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Conference paper (peer-reviewed)abstract
- The rolling motion of a soft robotic fingertip is in this paper explicitly included in the control objectives together with the force/position regulation targets. A model based control law is proposed to linearize and decouple the system with respect to the force/position and sliding dynamics based on an appropriately defined task Jacobian. The controller is validated by simulations including rolling on a stationary surface and graspless manipulation of a flat object.
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| 8. |
- Grossmann, Bjarne, et al.
(author)
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Continuous close-range 3D object pose estimation
- 2019
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In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019. - 2153-0858 .- 2153-0866. - 9781728140049 ; , s. 2861-2867
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Conference paper (peer-reviewed)abstract
- In the context of future manufacturing lines, removing fixtures will be a fundamental step to increase the flexibility of autonomous systems in assembly and logistic operations. Vision-based 3D pose estimation is a necessity to accurately handle objects that might not be placed at fixed positions during the robot task execution. Industrial tasks bring multiple challenges for the robust pose estimation of objects such as difficult object properties, tight cycle times and constraints on camera views. In particular, when interacting with objects, we have to work with close-range partial views of objects that pose a new challenge for typical view-based pose estimation methods.In this paper, we present a 3D pose estimation method based on a gradient-ascend particle filter that integrates new observations on-the-fly to improve the pose estimate. Thereby, we can apply this method online during task execution to save valuable cycle time. In contrast to other view-based pose estimation methods, we model potential views in full 6dimensional space that allows us to cope with close-range partial objects views. We demonstrate the approach on a real assembly task, in which the algorithm usually converges to the correct pose within 10-15 iterations with an average accuracy of less than 8mm.
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| 9. |
- Güler, Püren, et al.
(author)
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What's in the Container? : Classifying Object Contents from Vision and Touch
- 2014
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In: 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014). - : IEEE. - 2153-0858 .- 2153-0866. - 9781479969340 ; , s. 3961-3968
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Conference paper (peer-reviewed)abstract
- Robots operating in household environments need to interact with food containers of different types. Whether a container is filled with milk, juice, yogurt or coffee may affect the way robots grasp and manipulate the container. In this paper, we concentrate on the problem of identifying what kind of content is in a container based on tactile and/or visual feedback in combination with grasping. In particular, we investigate the benefits of using unimodal (visual or tactile) or bimodal (visual-tactile) sensory data for this purpose. We direct our study toward cardboard containers with liquid or solid content or being empty. The motivation for using grasping rather than shaking is that we want to investigate the content prior to applying manipulation actions to a container. Our results show that we achieve comparable classification rates with unimodal data and that the visual and tactile data are complimentary.
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| 10. |
- Huang, Zhifeng, et al.
(author)
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Three-dimensional posture optimization for biped robot stepping over large ditch based on a ducted-fan propulsion system
- 2020
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In: IEEE International Conference on Intelligent Robots and Systems. - 2153-0858 .- 2153-0866. ; , s. 3591-3597
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Conference paper (peer-reviewed)abstract
- The recent progress of an ongoing project utilizing a ducted-fan propulsion system to improve a humanoid robot's ability to step over large ditches is reported. A novel method (GAS) based on the genetic algorithm with smoothness constraint can effectively minimize the thrust by optimizing the robot's posture during 3D stepping. The significant advantage of the method is that it can realize the continuity and smoothness of the thrust and pelvis trajectories. The method enables the landing point of the robot's swing foot to be not only in the forward but also in a side direction. The methods were evaluated by simulation and by being applied on a prototype robot, JetHR1. By keeping a quasistatic balance, the robot could step over a ditch with a span of 450 mm (as much as 97% of the length of the robot's leg) in 3D stepping.
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