Name
Title | ||
|---|---|---|
Robust robotic grasping using IR Net-Structure Proximity Sensor to handle objects with unknown position and attitude |
Abstract | ||
|---|---|---|
In this paper, we focus on unknown parameters such as the position and attitude of the object, and describe a short-range, high-speed and noncontact sensing method for obtaining the position and attitude of the object using IR Net-Structure Proximity Sensor (“IR-NSPS”) which complements the dead region of sensory information between visual and tactile sensing. To be more precise, we propose two effective control methods which are pre-shaping and object positioning using IR-NSPS for robust grasping by adjusting the gripper configuration in response to attitude error of up to ±45 deg and the position error of up to ±80 mm of the unknown object. The methods therefore can significantly increase the speed and effectiveness of grasping objects without requiring a specific approach that depends on a vision sensor. Furthermore, to demonstrate the advantages of pre-shaping and object positioning, object grasping experiments were performed using these two operations to grasp objects placed randomly on a tabletop. |
Year | DOI | Venue |
|---|---|---|
2013 | 10.1109/ICRA.2013.6631033 | ICRA |
Keywords | Field | DocType |
ir-nsps,manipulator dynamics,unknown parameters,unknown attitude,object positioning,object handling,gripper configuration,attitude error,dead region,unknown position,image sensors,unknown object,tabletop,visual sensing,object grasping effectiveness,tactile sensors,grippers,ir net-structure proximity sensor,preshaping,position control,short-range high-speed noncontact sensing method,tactile sensing,robust robotic grasping,vision sensor,position error,sensory information,robot vision,robustness | Proximity sensor,Control theory,Control engineering,Artificial intelligence,Vision sensor,Grippers,Tactile sensor,Computer vision,GRASP,Robot vision,Image sensor,Position error,Engineering | Conference |
Volume | Issue | ISSN |
2013 | 1 | 1050-4729 |
ISBN | Citations | PageRank |
978-1-4673-5641-1 | 2 | 0.40 |
References | Authors | |
6 | 5 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Sha Ye | 1 | 2 | 0.40 |
| Kenji Suzuki | 2 | 127 | 26.67 |
| Yosuke Suzuki | 3 | 33 | 9.31 |
| Masatoshi Ishikawa | 4 | 903 | 163.13 |
| Makoto Shimojo | 5 | 7 | 1.63 |