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 - CHAP T1 - Integration of Visuomotor Learning, Cognitive Grasping and Sensor-Based Physical Interaction in the UJI Humanoid Torso T2 - Designing Intelligent Robots: Reintegrating AI Y1 - 2013 A1 - Angel P. del Pobil A1 - Angel J Duran A1 - Marco Antonelli A1 - Javier Felip A1 - Antonio Morales A1 - M. Prats A1 - Eris Chinellato JF - Designing Intelligent Robots: Reintegrating AI PB - AAAI VL - SS-13-04 SN - 978-1-57735-601-1 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 - TY - JOUR T1 - Manipulation primitives: A paradigm for abstraction and execution of grasping and manipulation tasks JF - Robotics and Autonomous Systems Y1 - 2012 A1 - Javier Felip A1 - Laaksonen, J. A1 - Antonio Morales A1 - V. Kyrki ER - TY - CONF T1 - Simulation of robot dynamics for grasping and manipulation tasks T2 - 12th IEEE-RAS International Conference on Humanoid Robots Y1 - 2012 A1 - Beatriz León A1 - Javier Felip A1 - Higinio Martí A1 - Antonio Morales JF - 12th IEEE-RAS International Conference on Humanoid Robots SN - 978-1-4673-1369-8 ER - TY - CONF T1 - Hierarchical object recognition inspired by primate brain mechanisms T2 - Computational Intelligence for Visual Intelligence (CIVI), 2011 IEEE Workshop on Y1 - 2011 A1 - Eris Chinellato A1 - Javier Felip A1 - Beata J. Grzyb A1 - Antonio Morales A1 - Angel P. del Pobil KW - brain KW - Estimation KW - Grasping KW - hierarchical object recognition KW - Image color analysis KW - multimodal integration KW - mutual projection KW - neurophysiology KW - neuroscience hypothesis KW - object recognition KW - object weight estimation KW - primate brain mechanism KW - real robot KW - robot vision KW - Robots KW - Shape KW - visual processing KW - Visualization KW - visuomotor behavior JF - Computational Intelligence for Visual Intelligence (CIVI), 2011 IEEE Workshop on ER - TY - CONF T1 - Mind the gap - robotic grasping under incomplete observation T2 - Robotics and Automation (ICRA), 2011 IEEE International Conference on Y1 - 2011 A1 - J. Bohg A1 - M. Johnson-Roberson A1 - Beatriz León A1 - Javier Felip A1 - Gratal, X. A1 - N Bergstrom A1 - Danica Kragic A1 - Antonio Morales KW - Approximation methods KW - collision-free movements KW - gap robotic grasping KW - Grasping KW - Image reconstruction KW - incomplete observation KW - manipulator kinematics KW - mesh generation KW - mesh reconstruction KW - object shape prediction KW - Planning KW - Robots KW - Shape KW - Surface reconstruction JF - Robotics and Automation (ICRA), 2011 IEEE International Conference on ER - TY - CONF T1 - Mind the gap - robotic grasping under incomplete observation T2 - IEEE International Conference on Robotics and Automation (ICRA) Y1 - 2011 A1 - Bohg, Jeannette A1 - M. Johnson-Roberson A1 - Beatriz León A1 - Javier Felip A1 - Gratal, X A1 - N Bergstrom A1 - Danica Kragic A1 - Antonio Morales KW - collision-free movements KW - gap robotic grasping KW - incomplete observation KW - manipulator kinematics KW - mesh generation KW - mesh reconstruction KW - object shape prediction KW - Robots JF - IEEE International Conference on Robotics and Automation (ICRA) CY - Shanghai, China UR - http://ieeexplore.ieee.org/xpls/abs\_all.jsp?arnumber=5980354 ER - TY - CONF T1 - Embodiment independent manipulation through action abstraction T2 - Robotics and Automation (ICRA), 2010 IEEE International Conference on Y1 - 2010 A1 - Laaksonen, J. A1 - Javier Felip A1 - Antonio Morales A1 - V. Kyrki KW - abstraction architecture KW - Automata KW - embodiment independent manipulation KW - failure detection KW - Hardware KW - Humans KW - imperfect environment knowledge KW - Intelligent robots KW - knowledge based systems KW - knowledge transfer KW - manipulator kinematics KW - manipulator platforms KW - robot programming KW - Robot sensing systems KW - Robotics and automation KW - Robots KW - Sensor phenomena and characterization KW - sensor-based control KW - sensors KW - service tasks KW - task analysis KW - Uncertainty KW - USA Councils JF - Robotics and Automation (ICRA), 2010 IEEE International Conference on ER - TY - CONF T1 - Robust sensor-based grasp primitive for a three-finger robot hand T2 - Intelligent Robots and Systems. IROS 2009. IEEE/RSJ International Conference on Y1 - 2009 A1 - Javier Felip A1 - Antonio Morales KW - contact-based sensor KW - control law KW - Feedback KW - Force sensors KW - grippers KW - Intelligent robots KW - Intelligent sensors KW - Mobile robots KW - naive grasp controller KW - robot grasping KW - Robot sensing systems KW - Robust control KW - robust sensor-based grasp primitive KW - Robustness KW - sensors KW - Shape KW - three-finger robot hand KW - Uncertainty JF - Intelligent Robots and Systems. IROS 2009. IEEE/RSJ International Conference on ER - TY - CONF T1 - The 2007 Spanish Humanoids Competition: From the Winners Point of View T2 - 8th Conference on Autonomous Robot Systems and Competitions Y1 - 2008 A1 - García, Juan Carlos A1 - Javier Felip A1 - P.J. Sanz KW - humanoid robot KW - learning KW - robot competitions JF - 8th Conference on Autonomous Robot Systems and Competitions CY - Aveiro (Portugal) SN - 978-972-96895-3-6 ER -