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Estimating Tactile Data for Adaptive Grasping of Novel Objects
KTH, School of Computer Science and Communication (CSC), Robotics, perception and learning, RPL. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.
KTH, School of Computer Science and Communication (CSC), Robotics, perception and learning, RPL. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.
2017 (English)In: 2017 IEEE-RAS 17TH INTERNATIONAL CONFERENCE ON HUMANOID ROBOTICS (HUMANOIDS), Institute of Electrical and Electronics Engineers (IEEE), 2017, p. 643-648Conference paper, Published paper (Refereed)
Abstract [en]

We present an adaptive grasping method that finds stable grasps on novel objects. The main contributions of this paper is in the computation of the probability of success of grasps in the vicinity of an already applied grasp. Our method performs adaptions by simulating tactile data for grasps in the vicinity of the current grasp. The simulated data is used to evaluate hypothetical configurations and thereby guide the robot in the right direction. We demonstrate the applicability of our method by constructing a system that can plan, apply and adapt grasps on novel objects. Experiments are conducted on objects from the YCB object set, [1], and our method increases the robot's success rate from 71.4% to 88.1%. Our experiments show that the application of our grasp adaption method improves grasp stability significantly.

Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers (IEEE), 2017. p. 643-648
Series
IEEE-RAS International Conference on Humanoid Robots, ISSN 2164-0572
National Category
Computer and Information Sciences
Identifiers
URN: urn:nbn:se:kth:diva-225258DOI: 10.1109/HUMANOIDS.2017.8246940ISI: 000427350100093Scopus ID: 2-s2.0-85044479738ISBN: 9781538646786 (print)OAI: oai:DiVA.org:kth-225258DiVA, id: diva2:1194468
Conference
17th IEEE-RAS International Conference on Humanoid Robotics, Humanoids 2017, Birmingham, United Kingdom, 15 November 2017 through 17 November 2017
Funder
Swedish Foundation for Strategic Research Swedish Research Council
Note

QC 20180403

Available from: 2018-04-03 Created: 2018-04-03 Last updated: 2018-04-06Bibliographically approved

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