Reactive Grasping Using Optical Proximity Sensors
Author(s)
Nangeroni, Paul; Huber, Manfred; Saxena, Ashutosh; Ng, Andrew Y.; Hsiao, Kaijen
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Show full item recordAbstract
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.
Date issued
2009-08Department
Massachusetts Institute of Technology. Computer Science and Artificial Intelligence LaboratoryJournal
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
ISBN
978-1-4244-2788-8
ISSN
1050-4729