This paper presents a novel regrasp control policy that makes use of tactile sensing to plan local grasp adjustments.Our approach determines regrasp actions by virtually searching for local transformations of tactile measurements that improve the quality of the grasp.First, we construct a tactile-based grasp quality metricusing a deep convolutional neural network trained on over2800 grasps. The quality of each grasp, a continuous value between 0 and 1, is determined experimentally by measuring its resistance to external perturbations. Second, we simulate the tactile imprints associated with robot motions relative to the initial grasp by performing rigid-body transformations of the given tactile measurements. The newly generated tactile impr...
The soft fingers and strategic grasping skills enable the human hands to grasp objects in a stable m...
Tactile perception is a rich source of information for robotic grasping: it allows a robot to identi...
Perceiving and manipulating deformable objects with the sense of touch are essential skills in every...
The purpose of this project is to find how to extract valuable information and applications of a tac...
For humans, the process of grasping an object relies heavily on rich tactile feedback. Most recent r...
In the context of robotic object manipulation, this work presents a simple regrasp policy based on t...
In the context of robotic object manipulation, this work presents a simple regrasp policy based on t...
In the context of robotic object manipulation, this work presents a simple regrasp policy based on t...
Our aim is to predict the stability of a grasp from the perceptions available to a robot before atte...
Tactile sensing provides crucial information about the stability of a grasped object by a robotic gr...
This paper presents an integration of grasp planning and online grasp stability assessment based on ...
Currently, robots display manipulation capabilities that translate into actions such as picking and ...
Melnik A, Lach LM, Plappert M, Korthals T, Haschke R, Ritter H. Using Tactile Sensing to Improve the...
Tactile sensors provide useful contact data during the interaction with an object which can be used ...
The soft fingers and strategic grasping skills enable the human hands to grasp objects in a stable m...
The soft fingers and strategic grasping skills enable the human hands to grasp objects in a stable m...
Tactile perception is a rich source of information for robotic grasping: it allows a robot to identi...
Perceiving and manipulating deformable objects with the sense of touch are essential skills in every...
The purpose of this project is to find how to extract valuable information and applications of a tac...
For humans, the process of grasping an object relies heavily on rich tactile feedback. Most recent r...
In the context of robotic object manipulation, this work presents a simple regrasp policy based on t...
In the context of robotic object manipulation, this work presents a simple regrasp policy based on t...
In the context of robotic object manipulation, this work presents a simple regrasp policy based on t...
Our aim is to predict the stability of a grasp from the perceptions available to a robot before atte...
Tactile sensing provides crucial information about the stability of a grasped object by a robotic gr...
This paper presents an integration of grasp planning and online grasp stability assessment based on ...
Currently, robots display manipulation capabilities that translate into actions such as picking and ...
Melnik A, Lach LM, Plappert M, Korthals T, Haschke R, Ritter H. Using Tactile Sensing to Improve the...
Tactile sensors provide useful contact data during the interaction with an object which can be used ...
The soft fingers and strategic grasping skills enable the human hands to grasp objects in a stable m...
The soft fingers and strategic grasping skills enable the human hands to grasp objects in a stable m...
Tactile perception is a rich source of information for robotic grasping: it allows a robot to identi...
Perceiving and manipulating deformable objects with the sense of touch are essential skills in every...