Reactive Grasping Using Optical Proximity Sensors
Name
Hsiao-2009-Reactive Grasping Using Optical Proximity Sensors.pdf
Size
1.46 MB
Format
Adobe PDF
Checksum (MD5)
750ad46d413c63854c27cb97c289aba3
Author(s)
Nangeroni, Paul
Huber, Manfred
Saxena, Ashutosh
Ng, Andrew Y.
Hsiao, Kaijen
Date Issued
August 2009
Journal
IEEE International Conference on Robotics and Automation, 2009. ICRA '09
Publisher
Institute of Electrical and Electronics Engineers
Citation
Hsiao, Kaijen et al. “Reactive grasping using optical proximity sensors.” Robotics and Automation, 2009. ICRA '09. IEEE International Conference on. 2009. 2098-2105. ©2009 Institute of Electrical and Electronics Engineers.
Version
Final published version
Abstract
We propose a system for improving grasping using fingertip optical proximity sensors that allows us to perform online grasp adjustments to an initial grasp point without requiring premature object contact or regrasping strategies. We present novel optical proximity sensors that fit inside the fingertips of a Barrett Hand, and demonstrate their use alongside a probabilistic model for robustly combining sensor readings and a hierarchical reactive controller for improving grasps online. This system can be used to complement existing grasp planning algorithms, or be used in more interactive settings where a human indicates the location of objects. Finally, we perform a series of experiments using a Barrett hand equipped with our sensors to grasp a variety of common objects with mixed geometries and surface textures.
MIT Department
Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory
Terms of Use
Article is made available in accordance with the publisher's policy and may be subject to US copyright law. Please refer to the publisher's site for terms of use.
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.1109/ROBOT.2009.5152849
