Design of a flexible tactile sensor for classification of rigid and deformable objects
For both humans and robots, tactile sensing is important for interaction with the environment:
it is the core sensing used for exploration and manipulation of objects. In this paper, we …
it is the core sensing used for exploration and manipulation of objects. In this paper, we …
Assessing grasp stability based on learning and haptic data
Y Bekiroglu, J Laaksonen, JA Jorgensen… - IEEE Transactions …, 2011 - ieeexplore.ieee.org
An important ability of a robot that interacts with the environment and manipulates objects is
to deal with the uncertainty in sensory data. Sensory information is necessary to, for …
to deal with the uncertainty in sensory data. Sensory information is necessary to, for …
One-shot learning and generation of dexterous grasps for novel objects
This paper presents a method for one-shot learning of dexterous grasps and grasp
generation for novel objects. A model of each grasp type is learned from a single kinesthetic …
generation for novel objects. A model of each grasp type is learned from a single kinesthetic …
Object–action complexes: Grounded abstractions of sensory–motor processes
This paper formalises Object–Action Complexes (OACs) as a basis for symbolic
representations of sensory–motor experience and behaviours. OACs are designed to …
representations of sensory–motor experience and behaviours. OACs are designed to …
Learning grasp affordance densities
We address the issue of learning and representing object grasp affordance models. We
model grasp affordances with continuous probability density functions (grasp densities) …
model grasp affordances with continuous probability density functions (grasp densities) …
Stable grasping under pose uncertainty using tactile feedback
This paper deals with the problem of stable grasping under pose uncertainty. Our method
utilizes tactile sensing data to estimate grasp stability and make necessary hand …
utilizes tactile sensing data to estimate grasp stability and make necessary hand …
Learning a dictionary of prototypical grasp-predicting parts from grasping experience
We present a real-world robotic agent that is capable of transferring grasping strategies
across objects that share similar parts. The agent transfers grasps across objects by …
across objects that share similar parts. The agent transfers grasps across objects by …
Grasping with application to an autonomous checkout robot
E Klingbeil, D Rao, B Carpenter… - … on robotics and …, 2011 - ieeexplore.ieee.org
In this paper, we present a novel grasp selection algorithm to enable a robot with a two-
fingered end-effector to autonomously grasp unknown objects. Our approach requires as …
fingered end-effector to autonomously grasp unknown objects. Our approach requires as …
A grasping approach based on superquadric models
This paper addresses the problem of grasping unknown objects with a humanoid robot.
Conventional approaches fail when the shape, dimension or pose of the objects are …
Conventional approaches fail when the shape, dimension or pose of the objects are …
Semantic grasping: Planning robotic grasps functionally suitable for an object manipulation task
We design an example based planning framework to generate semantic grasps, stable
grasps that are functionally suitable for specific object manipulation tasks. We propose to …
grasps that are functionally suitable for specific object manipulation tasks. We propose to …