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Document type:
Konferenzbeitrag 
Author(s):
Feng, Q.; Chen, Z.; Deng, J.; Gao, C.; Zhang, J.; Knoll, A. 
Title:
Center-of-Mass-based Robust Grasp Planning for Unknown Objects Using Tactile-Visual Sensors 
Abstract:
An unstable grasp pose can lead to slip, thus an unstable grasp pose can be predicted by slip detection. A regrasp is required afterwards to correct the grasp pose in order to finish the task. In this work, we propose a novel regrasp planner with multi-sensor modules to plan grasp adjustments with the feedback from a slip detector. Then a regrasp planner is trained to estimate the location of center of mass, which helps robots find an optimal grasp pose. The dataset in this work consists of 1 02...    »
 
Keywords:
dexterous manipulators; grippers; path planning; robot vision; tactile sensors; Franka Emika robot arm; tactile sensors; multisensor modules; regrasp planner; slip detection; visual sensors; center-of-mass-based robust grasp planning; Grasping; Tactile sensors; Force; Robustness 
Book / Congress title:
2020 IEEE International Conference on Robotics and Automation (ICRA) 
Year:
2020 
Month:
May 
Pages:
610-617