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Hierarchical fingertip space for multi-fingered precision grasping
Computer Vision and Active Perception Lab, Centre for Autonomous Systems, School of Computer Science and Communication, KTH Royal Institute of Technology, Stockholm, Sweden.
Computer Vision and Active Perception Lab, Centre for Autonomous Systems, School of Computer Science and Communication, KTH Royal Institute of Technology, Stockholm, Sweden. (AASS)ORCID iD: 0000-0003-3958-6179
Computer Vision and Active Perception Lab, Centre for Autonomous Systems, School of Computer Science and Communication, KTH Royal Institute of Technology, Stockholm, Sweden.
2014 (English)In: 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IEEE Press, 2014, p. 1641-1648Conference paper, Published paper (Refereed)
Abstract [en]

Dexterous in-hand manipulation of objects benefits from the ability of a robot system to generate precision grasps. In this paper, we propose a concept of Fingertip Space and its use for precision grasp synthesis. Fingertip Space is a representation that takes into account both the local geometry of object surface as well as the fingertip geometry. As such, it is directly applicable to the object point cloud data and it establishes a basis for the grasp search space. We propose a model for a hierarchical encoding of the Fingertip Space that enables multilevel refinement for efficient grasp synthesis. The proposed method works at the grasp contact level while not neglecting object shape nor hand kinematics. Experimental evaluation is performed for the Barrett hand considering also noisy and incomplete point cloud data.

Place, publisher, year, edition, pages
IEEE Press, 2014. p. 1641-1648
Series
IEEE International Conference on Intelligent Robots and Systems, ISSN 2153-0858, E-ISSN 2153-0866
National Category
Computer Sciences Computer Vision and Robotics (Autonomous Systems)
Identifiers
URN: urn:nbn:se:oru:diva-71564DOI: 10.1109/IROS.2014.6942775ISI: 000349834601110Scopus ID: 2-s2.0-84911484070OAI: oai:DiVA.org:oru-71564DiVA, id: diva2:1280240
Conference
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Chicago, IL, USA, September 14-18, 2014
Available from: 2019-01-18 Created: 2019-01-18 Last updated: 2019-01-23Bibliographically approved

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Stork, Johannes Andreas

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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