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Generation of independent contact regions on objects reconstructed from noisy real-world range data
Örebro University, School of Science and Technology. (AASS)
Örebro University, School of Science and Technology. (AASS)
Örebro University, School of Science and Technology. (AASS)ORCID iD: 0000-0002-6013-4874
Örebro University, School of Science and Technology. (AASS)
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2012 (English)In: 2012 IEEE International Conference on Robotics and Automation (ICRA), IEEE conference proceedings, 2012, p. 1338-1344Conference paper, Published paper (Refereed)
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.

Place, publisher, year, edition, pages
IEEE conference proceedings, 2012. p. 1338-1344
Series
Proceedings - IEEE International Conference on Robotics and Automation, ISSN 1050-4729
Keywords [en]
cameras, image reconstruction, manipulators, prototypes, robot sensing systems, dexterous manipulators, filtering theory, grippers, image reconstruction
National Category
Robotics Computer Sciences
Research subject
Computer Science
Identifiers
URN: urn:nbn:se:oru:diva-24192DOI: 10.1109/ICRA.2012.6225046ISI: 000309406701053Scopus ID: 2-s2.0-84864455775ISBN: 9781467314053 (electronic)ISBN: 9781467314039 (print)OAI: oai:DiVA.org:oru-24192DiVA, id: diva2:543057
Conference
2012 IEEE International Conference on Robotics and Automation (ICRA), St Paul, MN, USA, May 14-18, 2012
Funder
EU, FP7, Seventh Framework ProgrammeAvailable from: 2012-08-06 Created: 2012-08-01 Last updated: 2018-01-12Bibliographically approved

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Charusta, KrzysztofKrug, RobertStoyanov, TodorDimitrov, DimitarIliev, Boyko

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CiteExportLink to record
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Citation style
  • apa
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  • vancouver
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Language
  • de-DE
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  • Other locale
More languages
Output format
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  • asciidoc
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