Sensor prediction and grasp stability evaluation for in-hand manipulation

Kohei Kojima, Takashi Sato, Alexander Schmitz, Hiroaki Arie, Hiroyasu Iwata, Shigeki Sugano

研究成果: Conference contribution

10 引用 (Scopus)

抜粋

Handling objects with a single hand without dropping the object is challenging for a robot. A possible way to aid the motion planning is the prediction of the sensory results of different motions. Sequences of different movements can be performed as an offline simulation, and using the predicted sensory results, it can be evaluated whether the desired goal is achieved. In particular, the task in this paper is to roll a sphere between the fingertips of the dexterous hand of the humanoid robot TWENDY-ONE. First, a forward model for the prediction of the touch state resulting from the in-hand manipulation is developed. As it is difficult to create such a model analytically, the model is obtained through machine learning. To get real world training data, a dataglove is used to control the robot in a master-slave way. The learned model was able to accurately predict the course of the touch state while performing successful and unsuccessful in-hand manipulations. In a second step, it is shown that this simulated sequence of sensor states can be used as input for a stability assessment model. This model can accurately predict whether a grasp is stable or whether it results in dropping the object. In a final step, a more powerful grasp stability evaluator is introduced, which works for our task regardless of the sphere diameter.

元の言語English
ホスト出版物のタイトルIROS 2013
ホスト出版物のサブタイトルNew Horizon, Conference Digest - 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems
ページ2479-2484
ページ数6
DOI
出版物ステータスPublished - 2013 12 1
イベント2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013 - Tokyo, Japan
継続期間: 2013 11 32013 11 8

出版物シリーズ

名前IEEE International Conference on Intelligent Robots and Systems
ISSN(印刷物)2153-0858
ISSN(電子版)2153-0866

Other

Other2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013
Japan
Tokyo
期間13/11/313/11/8

    フィンガープリント

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

これを引用

Kojima, K., Sato, T., Schmitz, A., Arie, H., Iwata, H., & Sugano, S. (2013). Sensor prediction and grasp stability evaluation for in-hand manipulation. : IROS 2013: New Horizon, Conference Digest - 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (pp. 2479-2484). [6696705] (IEEE International Conference on Intelligent Robots and Systems). https://doi.org/10.1109/IROS.2013.6696705