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Generation of independent contact regions on objects reconstructed from noisy real-world range data
Örebro universitet, Institutionen för naturvetenskap och teknik. (AASS)
Örebro universitet, Institutionen för naturvetenskap och teknik. (AASS)
Örebro universitet, Institutionen för naturvetenskap och teknik. (AASS)ORCID-id: 0000-0002-6013-4874
Örebro universitet, Institutionen för naturvetenskap och teknik. (AASS)
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2012 (engelsk)Inngår i: 2012 IEEE International Conference on Robotics and Automation (ICRA), IEEE conference proceedings, 2012, s. 1338-1344Konferansepaper, Publicerat paper (Fagfellevurdert)
Abstract [en]

The synthesis and evaluation of multi-fingered grasps on complex objects is a challenging problem that has received much attention in the robotics community. Although several promising approaches have been developed, applications to real-world systems are limited to simple objects or gripper configurations. The paradigm of Independent Contact Regions (ICRs) has been proposed as a way to increase the tolerance to grasp positioning errors. This concept is well established, though only on precise geometric object models. This work is concerned with the application of the ICR paradigm to models reconstructed from real-world range data. We propose a method for increasing the robustness of grasp synthesis on uncertain geometric models. The sensitivity of the ICR algorithm to noisy data is evaluated and a filtering approach is proposed to improve the quality of the final result.

sted, utgiver, år, opplag, sider
IEEE conference proceedings, 2012. s. 1338-1344
Serie
Proceedings - IEEE International Conference on Robotics and Automation, ISSN 1050-4729
Emneord [en]
cameras, image reconstruction, manipulators, prototypes, robot sensing systems, dexterous manipulators, filtering theory, grippers, image reconstruction
HSV kategori
Forskningsprogram
Datavetenskap
Identifikatorer
URN: urn:nbn:se:oru:diva-24192DOI: 10.1109/ICRA.2012.6225046ISI: 000309406701053Scopus ID: 2-s2.0-84864455775ISBN: 9781467314053 (digital)ISBN: 9781467314039 (tryckt)OAI: oai:DiVA.org:oru-24192DiVA, id: diva2:543057
Konferanse
2012 IEEE International Conference on Robotics and Automation (ICRA), St Paul, MN, USA, May 14-18, 2012
Forskningsfinansiär
EU, FP7, Seventh Framework ProgrammeTilgjengelig fra: 2012-08-06 Laget: 2012-08-01 Sist oppdatert: 2018-01-12bibliografisk kontrollert

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Charusta, KrzysztofKrug, RobertStoyanov, TodorDimitrov, DimitarIliev, Boyko

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