TY - Generic T1 - Contact Localization through Robot and Object Motion from Point Clouds T2 - 13th IEEE-RAS, International Conference on Humanoid Robots, HUMANOIDS Y1 - 2013 A1 - Jose Bernabe A1 - Javier Felip A1 - Angel P. del Pobil A1 - Antonio Morales KW - Physical interaction KW - Tactile perception KW - visual perception AB -
Abstract: In this paper we address the problem of detecting contacts between a robot hand and an object during the approach and execution phases of manipulation tasks as a complement of touch perception. The motion produced on objects by unnoticed contacts is exploited to trigger the contact localization. Our method combines robot motion with tracking of target objects by means of point cloud to probabilistically estimate the location of contacts on a occupancy grid map. No previous knowledge on the object shape is required. The proposed approach is implemented on a real platform and experimentally validated in several cases.
JF - 13th IEEE-RAS, International Conference on Humanoid Robots, HUMANOIDS PB - IEEE CY - Atlanta, GA, USA ER - TY - CONF T1 - Contact-based blind grasping of unknown objects T2 - 12th IEEE-RAS International Conference on Humanoid Robots Y1 - 2012 A1 - Javier Felip A1 - Jose Bernabe A1 - Antonio Morales JF - 12th IEEE-RAS International Conference on Humanoid Robots SN - 978-1-4673-1369-8 ER -