Sökning: onr:"swepub:oai:research.chalmers.se:749f39f0-b9bf-4645-9f15-b81886a12ab6" >
Learning grasp stab...
Learning grasp stability with tactile data and HMMs
-
- Bekiroglu, Yasemin, 1982 (författare)
- Kungliga Tekniska Högskolan (KTH),Royal Institute of Technology (KTH)
-
- Kragic, Danica (författare)
- Kungliga Tekniska Högskolan (KTH),Royal Institute of Technology (KTH)
-
- Kyrki, Ville (författare)
- Lappeenrannan-Lahden teknillinen yliopisto (LUT),Lappeenranta-Lahti University of Technology (LUT)
-
(creator_code:org_t)
- 2010
- 2010
- Engelska.
-
Ingår i: IEEE International Symposium on Robot and Human Interactive Communication. - 1944-9437 .- 1944-9445. ; , s. 132-137
- Relaterad länk:
-
https://research.cha...
Abstract
Ämnesord
Stäng
- In this paper, the problem of learning grasp stability in robotic object grasping based on tactile measurements is studied. Although grasp stability modeling and estimation has been studied for a long time, there are few robots today able of demonstrating extensive grasping skills. The main contribution of the work presented here is an investigation of probabilistic modeling for inferring grasp stability based on learning from examples. The main objective is classification of a grasp as stable or unstable before applying further actions on it, e.g. lifting. The problem cannot be solved by visual sensing which is typically used to execute an initial robot hand positioning with respect to the object. The output of the classification system can trigger a regrasping step if an unstable grasp is identified. An off-line learning process is implemented and used for reasoning about grasp stability for a three-fingered robotic hand using Hidden Markov models. To evaluate the proposed method, experiments are performed both in simulation and on a real robot system.
Ämnesord
- TEKNIK OCH TEKNOLOGIER -- Elektroteknik och elektronik -- Robotteknik och automation (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Electrical Engineering, Electronic Engineering, Information Engineering -- Robotics (hsv//eng)
- NATURVETENSKAP -- Data- och informationsvetenskap -- Datorseende och robotik (hsv//swe)
- NATURAL SCIENCES -- Computer and Information Sciences -- Computer Vision and Robotics (hsv//eng)
Nyckelord
- Grasping
- Tactile sensors
- Shape
- Hidden Markov models
- Stability analysis
Publikations- och innehållstyp
- kon (ämneskategori)
- ref (ämneskategori)
Hitta via bibliotek
Till lärosätets databas