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Analytic Grasp Success Prediction with Tactile Feedback
Örebro universitet, Institutionen för naturvetenskap och teknik. (AASS)
Örebro universitet, Institutionen för naturvetenskap och teknik. (AASS)ORCID-id: 0000-0003-0217-9326
Centre for Autonomous Systems, Computer Vision and Active Perception Lab, CSC, KTH Stockholm, Stockholm, Sweden.
School of Mechanical Engineering, University of Birmingham, Birmingham, United Kingdom.
2016 (Engelska)Ingår i: 2016 IEEE International Conference on Robotics and Automation, ICRA 2016, New York, USA: IEEE , 2016, s. 165-171Konferensbidrag, Publicerat paper (Refereegranskat)
Abstract [en]

Predicting grasp success is useful for avoiding failures in many robotic applications. Based on reasoning in wrench space, we address the question of how well analytic grasp success prediction works if tactile feedback is incorporated. Tactile information can alleviate contact placement uncertainties and facilitates contact modeling. We introduce a wrench-based classifier and evaluate it on a large set of real grasps. The key finding of this work is that exploiting tactile information allows wrench-based reasoning to perform on a level with existing methods based on learning or simulation. Different from these methods, the suggested approach has no need for training data, requires little modeling effort and is computationally efficient. Furthermore, our method affords task generalization by considering the capabilities of the grasping device and expected disturbance forces/moments in a physically meaningful way.

Ort, förlag, år, upplaga, sidor
New York, USA: IEEE , 2016. s. 165-171
Serie
IEEE International Conference on Robotics and Automation ICRA, ISSN 1050-4729
Nationell ämneskategori
Datorseende och robotik (autonoma system)
Identifikatorer
URN: urn:nbn:se:oru:diva-54682DOI: 10.1109/ICRA.2016.7487130ISI: 000389516200021Scopus ID: 2-s2.0-84977515559ISBN: 978-1-4673-8026-3 (tryckt)OAI: oai:DiVA.org:oru-54682DiVA, id: diva2:1064907
Konferens
IEEE International Conference on Robotics and Automation (ICRA), Royal Inst Technol, Ctr Autonomous Syst, Stockholm, Sweden, May 16-21, 2016
Tillgänglig från: 2017-01-13 Skapad: 2017-01-13 Senast uppdaterad: 2018-01-13Bibliografiskt granskad

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Krug, RobertLilienthal, Achim J.

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Totalt: 192 träffar
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