Hierarchical Fingertip Space for Multi-fingered Precision Grasping
2014 (English)In: 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, (IROS 2014), IEEE , 2014, 1641-1648 p.Conference paper (Refereed)
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 , 2014. 1641-1648 p.
, IEEE International Conference on Intelligent Robots and Systems, ISSN 2153-0858
Contact levels, Experimental evaluation, Grasp synthesis, Hand kinematics, Hand manipulation, Hierarchical encoding, Multilevel refinement, Point cloud data
IdentifiersURN: urn:nbn:se:kth:diva-163508DOI: 10.1109/IROS.2014.6942775ISI: 000349834601110ScopusID: 2-s2.0-84911484070ISBN: 978-1-4799-6934-0OAI: oai:DiVA.org:kth-163508DiVA: diva2:800687
2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014, Palmer House Hilton Hotel Chicago, United States, 14 September 2014 through 18 September 2014
QC 201504072015-04-072015-04-072016-05-16Bibliographically approved