Name
Title | ||
|---|---|---|
Fusion of stereo vision, force-torque, and joint sensors for estimation of in-hand object location. |
Abstract | ||
|---|---|---|
This paper develops a method to fuse stereo vision, force-torque sensor, and joint angle encoder measurements to estimate and track the location of a grasped object within the hand. We pose the problem as a hybrid systems estimation problem, where the continuous states are the object 6D pose, finger contact location, wrist-to-camera transform and the discrete states are the finger contact modes with the object. This paper develops the key measurement equations that govern the fusion process. Experiments with a Barrett Hand, Bumblebee 2 stereo camera, and an ATI omega force-torque sensor validate and demonstrate the method. |
Year | DOI | Venue |
|---|---|---|
2011 | 10.1109/ICRA.2011.5980185 | ICRA |
Keywords | Field | DocType |
dexterous manipulators,estimation theory,force sensors,object detection,stereo image processing,ATI omega,Barrett Hand,Bumblebee 2 stereo camera,discrete state,finger contact location,finger contact mode,force-torque sensor,in-hand object location estimation,joint angle encoder measurement,object 6D pose,stereo vision,wrist-to-camera transform | Stereo camera,Computer vision,Object detection,Torque,Stereopsis,Encoder,Artificial intelligence,Engineering,Fuse (electrical),Robot,Hybrid system | Conference |
Volume | Issue | ISSN |
2011 | 1 | 1050-4729 |
Citations | PageRank | References |
24 | 1.22 | 0 |
Authors | ||
4 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Paul Hebert | 1 | 40 | 1.96 |
| Nicolas Hudson | 2 | 75 | 5.06 |
| Jeremy Ma | 3 | 181 | 9.93 |
| Burdick, J.W. | 4 | 2988 | 516.87 |