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2016 (English)In: IEEE Transactions on robotics, ISSN 1552-3098, E-ISSN 1941-0468, Vol. 32, no 4, p. 960-972, article id 7530865Article in journal (Refereed) Published
Abstract [en]
We present a unified framework for grasp planning and in-hand grasp adaptation using visual, tactile and proprioceptive feedback. The main objective of the proposed framework is to enable fingertip grasping by addressing problems of changed weight of the object, slippage and external disturbances. For this purpose, we introduce the Hierarchical Fingertip Space (HFTS) as a representation enabling optimization for both efficient grasp synthesis and online finger gaiting. Grasp synthesis is followed by a grasp adaptation step that consists of both grasp force adaptation through impedance control and regrasping/finger gaiting when the former is not sufficient. Experimental evaluation is conducted on an Allegro hand mounted on a Kuka LWR arm.
Place, publisher, year, edition, pages
IEEE Press, 2016
Keywords
Hierarchical Fingertip Space, Grasp Planning, Grasp Adaptation, Fingertip Grasping
National Category
Robotics
Research subject
Computer Science
Identifiers
urn:nbn:se:kth:diva-187058 (URN)10.1109/TRO.2016.2588879 (DOI)000382754900016 ()2-s2.0-84981303220 (Scopus ID)
Projects
FlexBot
Funder
EU, European Research Council, FLEXBOT - FP7-ERC-279933
Note
QC 20160517
2016-05-162016-05-162017-11-30Bibliographically approved