Change search
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
Dexterous Manipulation with Compliant Grasps and External Contacts
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. Royal Inst Technol KTH, Ctr Autonomous Syst, Sch Comp Sci & Commun, Robot Percept & Learning Lab, SE-10044 Stockholm, Sweden..ORCID iD: 0000-0003-3252-715X
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. Chalmers Univ Technol, Dept Signals & Syst, SE-41296 Gothenburg, Sweden..ORCID iD: 0000-0001-5129-342X
2017 (English)In: 2017 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS) / [ed] Bicchi, A Okamura, A, IEEE , 2017, p. 1913-1920Conference paper, Published paper (Refereed)
Abstract [en]

We propose a method that allows for dexterous manipulation of an object by exploiting contact with an external surface. The technique requires a compliant grasp, enabling the motion of the object in the robot hand while allowing for significant contact forces to be present on the external surface. We show that under this type of grasp it is possible to estimate and control the pose of the object with respect to the surface, leveraging the trade-off between force control and manipulative dexterity. The method is independent of the object geometry, relying only on the assumptions of type of grasp and the existence of a contact with a known surface. Furthermore, by adapting the estimated grasp compliance, the method can handle unmodelled effects. The approach is demonstrated and evaluated with experiments on object pose regulation and pivoting against a rigid surface, where a mechanical spring provides the required compliance.

Place, publisher, year, edition, pages
IEEE , 2017. p. 1913-1920
Series
IEEE International Conference on Intelligent Robots and Systems, ISSN 2153-0858
National Category
Electrical Engineering, Electronic Engineering, Information Engineering
Identifiers
URN: urn:nbn:se:kth:diva-225802ISI: 000426978202035ISBN: 978-1-5386-2682-5 OAI: oai:DiVA.org:kth-225802DiVA, id: diva2:1196077
Conference
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), SEP 24-28, 2017, Vancouver, CANADA
Note

QC 20180409

Available from: 2018-04-09 Created: 2018-04-09 Last updated: 2018-04-09Bibliographically approved

Open Access in DiVA

No full text in DiVA

Authority records BETA

Almeida, DiogoKarayiannidis, Yiannis

Search in DiVA

By author/editor
Almeida, DiogoKarayiannidis, Yiannis
By organisation
Centre for Autonomous Systems, CASRobotics, perception and learning, RPL
Electrical Engineering, Electronic Engineering, Information Engineering

Search outside of DiVA

GoogleGoogle Scholar

isbn
urn-nbn

Altmetric score

isbn
urn-nbn
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