Robust sensor-based grasp primitive for a three-finger robot hand

被引：47

作者：

Felip, Javier ^{[1
]}

Morales, Antonio ^{[1
]}

机构：

[1] Univ Jaume 1, Dept Comp Sci & Engn, Robot Intelligence Lab, Castellon de La Plana 12006, Spain

来源：

2009 IEEE-RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS | 2009年

关键词：

VISION;

D O I：

10.1109/IROS.2009.5354760

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

This paper addresses the problem of robot grasping in conditions of uncertainty. We propose a grasp controller that deals robustly with this uncertainty using feedback from different contact-based sensors. This controller assumes a description of grasp consisting of a primitive that only determines the initial configuration of the hand and the control law to be used. We exhaustively validate the controller by carrying out a large number of tests with different degrees of inaccuracy in the pose of the target objects and by comparing it with results of a naive grasp controller.

引用

页码：1811 / 1816

页数：6

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