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Hierarchical Finger...
Hierarchical Fingertip Space : A Unified Framework for Grasp Planning and In-Hand Grasp Adaptation
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- Hang, Kaiyu, 1987- (författare)
- KTH,Datorseende och robotik, CVAP,Centrum för Autonoma System, CAS,Computer Vision and Active Perception Laboratory, Centre for Autonomous Systems, School of Computer Science and Communication, KTH Royal Institute of Technology, Stockholm, Sweden
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- Li, Miao (författare)
- EPFL,Learning Algorithms and Systems Laboratory, École Polytechnique Fédérale de Lausanne, Lausanne, Switzerland
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- Stork, Johannes A. (författare)
- KTH,Datorseende och robotik, CVAP,Centrum för Autonoma System, CAS,Computer Vision and Active Perception Laboratory, Centre for Autonomous Systems, School of Computer Science and Communication, KTH Royal Institute of Technology, Stockholm, Sweden,AASS
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- Bekiroglu, Yasemin (författare)
- KTH,Datorseende och robotik, CVAP,Centrum för Autonoma System, CAS,Department of Mechanical Engineering, School of Engineering, University of Birmingham, Birmingham, UK
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- Pokorny, Florian T., 1980- (författare)
- KTH,Datorseende och robotik, CVAP,Centrum för Autonoma System, CAS,Computer Vision and Active Perception Laboratory, Centre for Autonomous Systems, School of Computer Science and Communication, KTH Royal Institute of Technology, Stockholm, Sweden
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- Billard, Aude (författare)
- Learning Algorithms and Systems Laboratory, École Polytechnique Fédérale de Lausanne, Lausanne, Switzerland
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- Kragic, Danica (författare)
- KTH,Datorseende och robotik, CVAP,Centrum för Autonoma System, CAS,Computer Vision and Active Perception Laboratory, Centre for Autonomous Systems, School of Computer Science and Communication, KTH Royal Institute of Technology, Stockholm, Sweden
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(creator_code:org_t)
- IEEE Press, 2016
- 2016
- Engelska.
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Ingår i: IEEE Transactions on robotics. - : IEEE Press. - 1552-3098 .- 1941-0468. ; 32:4, s. 960-972
- Relaterad länk:
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https://kth.diva-por... (primary) (Raw object)
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https://urn.kb.se/re...
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https://doi.org/10.1...
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https://urn.kb.se/re...
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Abstract
Ämnesord
Stäng
- We present a unified framework for grasp planning and in-hand grasp adaptation using visual, tactile and proprioceptive feedback. The main objective of the proposed framework is to enable fingertip grasping by addressing problems of changed weight of the object, slippage and external disturbances. For this purpose, we introduce the Hierarchical Fingertip Space (HFTS) as a representation enabling optimization for both efficient grasp synthesis and online finger gaiting. Grasp synthesis is followed by a grasp adaptation step that consists of both grasp force adaptation through impedance control and regrasping/finger gaiting when the former is not sufficient. Experimental evaluation is conducted on an Allegro hand mounted on a Kuka LWR arm.
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 -- Datavetenskap (hsv//swe)
- NATURAL SCIENCES -- Computer and Information Sciences -- Computer Sciences (hsv//eng)
- NATURVETENSKAP -- Data- och informationsvetenskap -- Datorseende och robotik (hsv//swe)
- NATURAL SCIENCES -- Computer and Information Sciences -- Computer Vision and Robotics (hsv//eng)
Nyckelord
- Hierarchical Fingertip Space
- Grasp Planning
- Grasp Adaptation
- Fingertip Grasping
- Computer Science
- Datalogi
Publikations- och innehållstyp
- ref (ämneskategori)
- art (ämneskategori)
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