Hanzhong Liu
Multi-fingered tactile servoing for grasping adjustment under partial observation
Liu, Hanzhong; Huang, Bidan; Li, Qiang; Zheng, Yu; Ling, Yonggen; Lee, Wangwei; Liu, Yi; Tsai, Ya-Yen; Yang, Chenguang
Authors
Bidan Huang
Qiang Li
Yu Zheng
Yonggen Ling
Wangwei Lee
Yi Liu
Ya-Yen Tsai
Charlie Yang Charlie.Yang@uwe.ac.uk
Professor in Robotics
Abstract
Grasping of objects using multi-fingered robotic hands often fails due to small uncertainties in the hand motion control and the object's pose estimation. To tackle this problem, we propose a grasping adjustment strategy based on tactile seroving. Our technique employs feedback from a sensorized multi-fingered robotic hand to collaboratively servo the fingers and palm to achieve the desired grasp. We demonstrate the performance of our method through simulation and physical experiments by having a robot grasp different objects under conditions of variable uncertainty. The results show that our approach achieved a higher success rate and tolerated greater uncertainty than an open-looped grasp.
Presentation Conference Type | Conference Paper (Published) |
---|---|
Conference Name | 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) |
Start Date | Oct 23, 2022 |
End Date | Oct 27, 2022 |
Acceptance Date | Jun 30, 2022 |
Online Publication Date | Dec 26, 2022 |
Publication Date | Dec 26, 2022 |
Deposit Date | Mar 14, 2023 |
Publicly Available Date | Dec 27, 2024 |
Publisher | Institute of Electrical and Electronics Engineers (IEEE) |
Volume | 2022-October |
Pages | 7781-7788 |
Series ISSN | 2153-0866 |
Book Title | 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) |
ISBN | 9781665479288 |
DOI | https://doi.org/10.1109/IROS47612.2022.9981464 |
Keywords | Uncertainty, Pose estimation, Grasping, Robot sensing systems, Servomotors, Motion control, Intelligent robots |
Public URL | https://uwe-repository.worktribe.com/output/10344571 |
Publisher URL | https://ieeexplore.ieee.org/document/9981464 |
Related Public URLs | https://ieeexplore.ieee.org/xpl/conhome/9981026/proceeding |
Files
This file is under embargo until Dec 27, 2024 due to copyright reasons.
Contact Charlie.Yang@uwe.ac.uk to request a copy for personal use.
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