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Analytic Grasp Success Prediction with Tactile Feedback
Örebro University, School of Science and Technology, Örebro University, Sweden. (AASS)
Örebro University, School of Science and Technology, Örebro University, Sweden. (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 (English)In: 2016 IEEE International Conference on Robotics and Automation, ICRA 2016, New York, USA: IEEE , 2016, 165-171 p.Conference paper, (Refereed)
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.

Place, publisher, year, edition, pages
New York, USA: IEEE , 2016. 165-171 p.
Series
IEEE International Conference on Robotics and Automation ICRA, ISSN 1050-4729
National Category
Computer Vision and Robotics (Autonomous Systems)
Identifiers
URN: urn:nbn:se:oru:diva-54682DOI: 10.1109/ICRA.2016.7487130ISI: 000389516200021Scopus ID: 2-s2.0-84977515559ISBN: 978-1-4673-8026-3 (print)OAI: oai:DiVA.org:oru-54682DiVA: diva2:1064907
Conference
IEEE International Conference on Robotics and Automation (ICRA), Royal Inst Technol, Ctr Autonomous Syst, Stockholm, Sweden, May 16-21, 2016
Available from: 2017-01-13 Created: 2017-01-13 Last updated: 2017-01-13Bibliographically approved

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CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf