Florian T. Pokorny
Assistant Professor, School of Computer Science and Communication, KTH Royal Institute of TechnologyHierarchical Fingertip Space: A Unified Framework for Grasp Planning and In-Hand Grasp Adaptation
In IEEE Transactions on Robotics, 2016
Abstract
We present a unified framework for grasp planning and in-hand grasp adaptation using visual, tactile and proprioceptive feedback.
The main objective of the proposed framework is to
enable fingertip grasping and address problems of changed weight of the object, slippage and external disturbances.
For this purpose, we introduce Hierarchical Fingertip Space (HFTS) concept as a representation enabling optimization
for efficient grasp synthesis. Grasp synthesis is followed by a grasp adaptation
step that consists of both grasp force adaptation through impedance control and
regrasping/finger gaiting when the former is not sufficient.
Experimental evaluation is conducted on an Allegro hand mounted on a Kuka LWR arm.
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@article{hang2016a,
author = {Hang, Kaiyu and Li, Miao and Stork, Johannes A. and Bekiroglu, Yasemin and Pokorny, Florian T. and
Billard, Aude and Kragic, Danica},
title = {Hierarchical Fingertip Space: A Unified Framework for Grasp Planning and In-Hand Grasp Adaptation},
journal = {IEEE Transactions on Robotics},
year = {2016},
url={http://ieeexplore.ieee.org/document/7530865/}
}