© 2018 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting /republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works ; Many of the solutions proposed for the object manipulation problem are based on the knowledge of the object features. The approach proposed in this paper intends to provide a simple geometrical approach to securely manipulate an unknown object based only on tactile and kinematic information. The tactile and kinematic data obtained during the manipulation is used to recognize the object shape (at least the local object curvature), allowing to improve the grasping forces when this information is added to the manipulation strategy. The approach has been fully implemented and tested using the Schunk Dexterous Hand (SDH2). Experimental results are shown to illustrate the efficiency of the approach. ; Peer Reviewed ; Postprint (author's final draft)


    Access

    Download


    Export, share and cite



    Grasping and Manipulation of Unknown Objects Based on Visual and Tactile Feedback

    Haschke, Robert / Carbone, G. / Gomez-Bravo, F. | BASE | 2015

    Free access

    Task Understanding for Grasping Unknown Objects

    Kaneko, M. | British Library Online Contents | 1993


    Grasping Unknown Objects Using Convolutional Neural Networks

    Krishna Prasad, Pranav (M.Sc.) | BASE | 2020

    Free access

    Grasping Unknown Objects Using Convolutional Neural Networks

    Krishna Prasad, Pranav / Stähle, Benjamin / Chernov, Igor et al. | BASE | 2020

    Free access

    Framework for Autonomous Underwater Grasping of Unknown Objects

    Peñalver Monfort, Antonio | BASE | 2019

    Free access