Feeling by grasping
نویسندگان
چکیده
This paper specifies constraints based on the geometry of the grasped object, on geometry of the hand and the kinematics of the constrained object which determine how to grasp an object.
منابع مشابه
Picking up a soft 3D object by "feeling" the grip
This paper describes a strategy for a robotic hand to pick up deformable 3D objects on a table. Inspired by human hand behavior, the robotic hand employs two rigid fingers to first squeeze such an object until it “feels” the object to be liftable. Such “feeling” is provided by a (virtual) liftability test that is repeatedly conducted during the squeeze. Passing of the test then triggers a lifti...
متن کاملModifying a Conventional Grasping Control Approach for Undesired Slippage Control in Cooperating Manipulator Systems
There have been many researches on object grasping in cooperating systems assuming no object slippage and stable grasp and the control system is designed to keep the contact force inside the friction cone to prevent the slippage. However undesired slippage can occur due to environmental conditions and many other reasons. In this research, dynamic analysis and control synthesis of a cooperating ...
متن کاملThe Feeling of Success: Does Touch Sensing Help Predict Grasp Outcomes?
A successful grasp requires careful balancing of the contact forces. Deducing whether a particular grasp will be successful from indirect measurements, such as vision, is therefore quite challenging, and direct sensing of contacts through touch sensing provides an appealing avenue toward more successful and consistent robotic grasping. However, in order to fully evaluate the value of touch sens...
متن کاملMore Than a Feeling: Learning to Grasp and Regrasp using Vision and Touch
Past work in robotic grasping often relied purely on vision; However, human grasping heavily rely also on touch. While vision provides coarse-grained information about object location, shape, and size, touch provides complementary fine-grained cues about contact forces, textures, local shape around contact points, and deformability, all of which are critical for evaluating an ongoing grasp. In ...
متن کاملBuilding Carefully Tagged Bilingual Corpora to Cope with Linguistic Idiosyncrasy
We illustrate the effectiveness of medium-sized carefully tagged bilingual core corpus, that is, “semantic typology patterns” in our term together with some examples to give concrete evidence of its usefulness. The most important characteristic of these semantic typology patterns is the bridging mechanism between two languages which is based on sequences syntactic codes and semantic codes. This...
متن کامل