Hierarchical Fingertip Space: A Unified Framework for Grasp Planning and In-Hand Grasp Adaptation
2016 (English)In: IEEE Transactions on robotics, ISSN 1552-3098, E-ISSN 1941-0468Article in journal (Refereed) Accepted
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.
Hierarchical Fingertip Space, Grasp Planning, Grasp Adaptation, Fingertip Grasping
Research subject Computer Science
IdentifiersURN: urn:nbn:se:kth:diva-187058DOI: 10.1109/TRO.2016.2588879ISI: 000382754900016ScopusID: 2-s2.0-84981303220OAI: oai:DiVA.org:kth-187058DiVA: diva2:928838
FunderEU, European Research Council, FLEXBOT - FP7-ERC-279933
QC 201605172016-05-162016-05-162016-10-13Bibliographically approved