Grasping Objects of Unknown Geometry with Tactile Feedback

Haschke R, Schöpfer M, Ritter H (2012)
In: Towards Service Robots for Everyday Environments. Prassler E, Burgard W, Handmann U, Haschke R, Hägele G and NM and L (Eds); Springer Tracts in Advanced Robotics, 76. Springer: 431-440.

Book Chapter | Published | English

No fulltext has been uploaded

Book Editor
Prassler, Erwin ; Burgard, Wolfram ; Handmann, Uwe ; Haschke, Robert ; Hägele, Gisbert and Nebel Martin and Lawitzky
Abstract
Service robots operating in unconstrained environments like our homes need to be able to grasp and manipulate all kinds of objects, even if they are not known in advance.While many common approaches for grasping rely on detailed geometric models of the objects to perform a grasp optimization process in simulated scenes, we propose a model-free approach which relies on tactile feedback and coarse shape estimation from vision. Tactile sensor arrays continuously shrink in size and become available for small-size finger tips these days, allowing us to consider more natural approaches to grasping. Evaluating this grasping approach on two different hands, the anthropomorphic Shadow Dexterous Hand and the three-fingered Schunk Dexterous Hand, we prove the feasibility and portability of our method.
Publishing Year
PUB-ID

Cite this

Haschke R, Schöpfer M, Ritter H. Grasping Objects of Unknown Geometry with Tactile Feedback. In: Prassler E, Burgard W, Handmann U, Haschke R, Hägele G and NM and L, eds. Towards Service Robots for Everyday Environments. Springer Tracts in Advanced Robotics. Vol 76. Springer; 2012: 431-440.
Haschke, R., Schöpfer, M., & Ritter, H. (2012). Grasping Objects of Unknown Geometry with Tactile Feedback. In E. Prassler, W. Burgard, U. Handmann, R. Haschke, & G. and N. M. and L. Hägele (Eds.), Springer Tracts in Advanced Robotics: Vol. 76. Towards Service Robots for Everyday Environments (pp. 431-440). Springer.
Haschke, R., Schöpfer, M., and Ritter, H. (2012). “Grasping Objects of Unknown Geometry with Tactile Feedback” in Towards Service Robots for Everyday Environments, ed. E. Prassler, W. Burgard, U. Handmann, R. Haschke, and G. and N. M. and L. Hägele Springer Tracts in Advanced Robotics, vol. 76, (Springer), 431-440.
Haschke, R., Schöpfer, M., & Ritter, H., 2012. Grasping Objects of Unknown Geometry with Tactile Feedback. In E. Prassler, et al., eds. Towards Service Robots for Everyday Environments. Springer Tracts in Advanced Robotics. no.76 Springer, pp. 431-440.
R. Haschke, M. Schöpfer, and H. Ritter, “Grasping Objects of Unknown Geometry with Tactile Feedback”, Towards Service Robots for Everyday Environments, E. Prassler, et al., eds., Springer Tracts in Advanced Robotics, vol. 76, Springer, 2012, pp.431-440.
Haschke, R., Schöpfer, M., Ritter, H.: Grasping Objects of Unknown Geometry with Tactile Feedback. In: Prassler, E., Burgard, W., Handmann, U., Haschke, R., and Hägele, G. and N.M. and L. (eds.) Towards Service Robots for Everyday Environments. Springer Tracts in Advanced Robotics. 76, p. 431-440. Springer (2012).
Haschke, Robert, Schöpfer, Matthias, and Ritter, Helge. “Grasping Objects of Unknown Geometry with Tactile Feedback”. Towards Service Robots for Everyday Environments. Ed. Erwin Prassler, Wolfram Burgard, Uwe Handmann, Robert Haschke, and Gisbert and Nebel Martin and Lawitzky Hägele. Springer, 2012.Vol. 76. Springer Tracts in Advanced Robotics. 431-440.
This data publication is cited in the following publications:
This publication cites the following data publications:

Export

0 Marked Publications

Open Data PUB

Search this title in

Google Scholar