Safe Robotic Manipulation to Extract Objects from Piles: From 3D Perception to Object Selection
نویسنده
چکیده
Rasoul Mojtahedzadeh (2016): Safe Robotic Manipulation to Extract Objects from Piles: From 3D Perception to Object Selection. Örebro Studies in Technology 71.
منابع مشابه
Merging Local and Global 3D Perception using Contact Sensing
This paper presents our ongoing work towards fusing RGB-D images with data from contact and proximity sensors embedded in a robotic hand for improved object perception, recognition and manipulation. Optical depth information from multiple sensors is often inaccurate and inconsistent. These problems arise from problems with sensor calibration, but also occlusion of objects by other objects or th...
متن کاملDesign and Manipulation 3D Imaging System by using Photodiode Grid
Introduction: Radiation imaging is one of the applicable methods in diagnostic medicine and nondestructive testing for industrial applications. In nondestructive 3D imaging, in addition to the radiation source, there is a requirement for a suitable detection system, data acquisition system, mechanical sections for moving objects, reconstruction algorithm and finally a computer for processing an...
متن کاملIntegration of 3D Object Recognition and Planning for Robotic Manipulation: A Preliminary Report
We investigate different approaches to integrating object recognition and planning in a tabletop manipulation domain with the set of objects used in the 2012 RoboCup@Work competition. Results of our preliminary experiments show that, with some approaches, close integration of perception and planning improves the quality of plans, as well as the computation times of feasible plans.
متن کاملGrasp analysis of a four-fingered robotic hand based on Matlab simmechanics
The structure of the human hand is a complex design comprising of various bones, joints, tendons, and muscles functioning together in order to produce the desired motion. It becomes a challenging task to develop a robotic hand replicating the capabilities of the human hand. In this paper, the analysis of the four-fingered robotic hand is carried out where the tendon wires and a spring return me...
متن کاملDynamic Potential Fields for Dexterous Tactile Exploration
Haptic exploration of unknown objects is of great importance for acquiring multimodal object representations, which enable a humanoid robot to autonomously execute grasping and manipulation tasks. In this paper we present our ongoing work on tactile object exploration with an anthropomorphic five-finger robot hand. In particular we present a method for guiding the hand along the surface of an u...
متن کامل