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- Title
Robot Intelligent Grasp of Unknown Objects Based on Multi-Sensor Information.
- Authors
Ji, Shan-Qian; Huang, Ming-Bao; Huang, Han-Pang
- Abstract
Robots frequently need to work in human environments and handle many different types of objects. There are two problems that make this challenging for robots: human environments are typically cluttered, and the multi-finger robot hand needs to grasp and to lift objects without knowing their mass and damping properties. Therefore, this study combined vision and robot hand real-time grasp control action to achieve reliable and accurate object grasping in a cluttered scene. An efficient online algorithm for collision-free grasping pose generation according to a bounding box is proposed, and the grasp pose will be further checked for grasp quality. Finally, by fusing all available sensor data appropriately, an intelligent real-time grasp system was achieved that is reliable enough to handle various objects with unknown weights, friction, and stiffness. The robots used in this paper are the NTU 21-DOF five-finger robot hand and the NTU 6-DOF robot arm, which are both constructed by our Lab.
- Subjects
MULTISENSOR data fusion; INFORMATION processing; PROBLEM solving; IMAGE converters; DAMPING (Mechanics)
- Publication
Sensors (14248220), 2019, Vol 19, Issue 7, p1595
- ISSN
1424-8220
- Publication type
Article
- DOI
10.3390/s19071595