When manipulating a grasped object, especially with a robot hand, it is helpful to have an estimate of the object's orientation within the grasp. The object's orientation can be extracted from knowledge of the surface normals at the various points of contact with the object, but these surface normals must first be transformed into a common coordinate system. Successful execution of these transformations requires a prohibitive amount of accuracy in calibration of the arm and hand. An online method to improve these transformations in spite of calibration errors is presented. The method requires collecting contact force readings as the object is manipulated, and computing transform corrections that minimize the variation in the sum of the contact forces. Both experimental and simulated results are presented, and the implications of the results are discussed.<>


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Extracting the orientation of a grasped object from contact information: an approach for overcoming prohibitive calibration requirements


    Contributors:


    Publication date :

    1991-01-01


    Size :

    398393 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Estimation of Relative Orientation Between Robot Hand and Grasped Object

    Funahashi, Y. / Yamada, T. | British Library Online Contents | 1995


    Toward active pose estimation of a grasped object [2056-09]

    Abbott, A. L. / SPIE | British Library Conference Proceedings | 1993


    Visual and Tactile Fusion for Estimating the Pose of a Grasped Object

    Álvarez, David / Roa, Máximo A. / Moreno, Luis | Springer Verlag | 2019


    Cold start emissions prohibitive for siting parking facilities?

    Boonekamp,P.G. / Netherlands Energy Research Foundation,NL | Automotive engineering | 1993


    83EL063 Cold Start Emissions Prohibitive for Siting Parking Facilities

    Boonekamp, P. G. M. / ISATA / ENEA; Agency: Italy | British Library Conference Proceedings | 1993