Robot Intelligent Grasp of Unknown Objects Based on Multi-Sensor Information
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...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2019-04-01
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| Series: | Sensors |
| Subjects: | |
| Online Access: | https://www.mdpi.com/1424-8220/19/7/1595 |
| _version_ | 1798035304315092992 |
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| author | Shan-Qian Ji Ming-Bao Huang Han-Pang Huang |
| author_facet | Shan-Qian Ji Ming-Bao Huang Han-Pang Huang |
| author_sort | Shan-Qian Ji |
| collection | DOAJ |
| description | 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. |
| first_indexed | 2024-04-11T20:56:18Z |
| format | Article |
| id | doaj.art-2f8e13d84b0b4635ab5d854215640cb3 |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-04-11T20:56:18Z |
| publishDate | 2019-04-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-2f8e13d84b0b4635ab5d854215640cb32022-12-22T04:03:40ZengMDPI AGSensors1424-82202019-04-01197159510.3390/s19071595s19071595Robot Intelligent Grasp of Unknown Objects Based on Multi-Sensor InformationShan-Qian Ji0Ming-Bao Huang1Han-Pang Huang2Robotics Laboratory, Department of Mechanical Engineering, National Taiwan University, Taipei 10617, TaiwanRobotics Laboratory, Department of Mechanical Engineering, National Taiwan University, Taipei 10617, TaiwanRobotics Laboratory, Department of Mechanical Engineering, National Taiwan University, Taipei 10617, TaiwanRobots 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.https://www.mdpi.com/1424-8220/19/7/1595contact modellingforce and tactile sensinggrasping and manipulationgrasp planningobject features recognitionrobot hand-arm systemrobot tactile systemssensor fusionslipping detection and avoidancestiffness measurement |
| spellingShingle | Shan-Qian Ji Ming-Bao Huang Han-Pang Huang Robot Intelligent Grasp of Unknown Objects Based on Multi-Sensor Information Sensors contact modelling force and tactile sensing grasping and manipulation grasp planning object features recognition robot hand-arm system robot tactile systems sensor fusion slipping detection and avoidance stiffness measurement |
| title | Robot Intelligent Grasp of Unknown Objects Based on Multi-Sensor Information |
| title_full | Robot Intelligent Grasp of Unknown Objects Based on Multi-Sensor Information |
| title_fullStr | Robot Intelligent Grasp of Unknown Objects Based on Multi-Sensor Information |
| title_full_unstemmed | Robot Intelligent Grasp of Unknown Objects Based on Multi-Sensor Information |
| title_short | Robot Intelligent Grasp of Unknown Objects Based on Multi-Sensor Information |
| title_sort | robot intelligent grasp of unknown objects based on multi sensor information |
| topic | contact modelling force and tactile sensing grasping and manipulation grasp planning object features recognition robot hand-arm system robot tactile systems sensor fusion slipping detection and avoidance stiffness measurement |
| url | https://www.mdpi.com/1424-8220/19/7/1595 |
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