%0 Conference Proceedings %B 13th IEEE-RAS, International Conference on Humanoid Robots, HUMANOIDS %D 2013 %T Contact Localization through Robot and Object Motion from Point Clouds %A Jose Bernabe %A Javier Felip %A Angel P. del Pobil %A Antonio Morales %K Physical interaction %K Tactile perception %K visual perception %X
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.
%B 13th IEEE-RAS, International Conference on Humanoid Robots, HUMANOIDS %I IEEE %C Atlanta, GA, USA %8 10/2013 %G eng %0 Book Section %B Designing Intelligent Robots: Reintegrating AI %D 2013 %T Integration of Visuomotor Learning, Cognitive Grasping and Sensor-Based Physical Interaction in the UJI Humanoid Torso %A Angel P. del Pobil %A Angel J Duran %A Marco Antonelli %A Javier Felip %A Antonio Morales %A M. Prats %A Eris Chinellato %B Designing Intelligent Robots: Reintegrating AI %I AAAI %V SS-13-04 %P pp. 6-11 %@ 978-1-57735-601-1 %G eng %0 Conference Paper %B 12th IEEE-RAS International Conference on Humanoid Robots %D 2012 %T Contact-based blind grasping of unknown objects %A Javier Felip %A Jose Bernabe %A Antonio Morales %B 12th IEEE-RAS International Conference on Humanoid Robots %8 Nov. %@ 978-1-4673-1369-8 %G eng %0 Journal Article %J Robotics and Autonomous Systems %D 2012 %T Manipulation primitives: A paradigm for abstraction and execution of grasping and manipulation tasks %A Javier Felip %A Laaksonen, J. %A Antonio Morales %A V. Kyrki %B Robotics and Autonomous Systems %G eng %R 10.1016/j.robot.2012.11.010 %0 Conference Paper %B 12th IEEE-RAS International Conference on Humanoid Robots %D 2012 %T Simulation of robot dynamics for grasping and manipulation tasks %A Beatriz León %A Javier Felip %A Higinio Martí %A Antonio Morales %B 12th IEEE-RAS International Conference on Humanoid Robots %8 Nov. %@ 978-1-4673-1369-8 %G eng %0 Conference Paper %B Computational Intelligence for Visual Intelligence (CIVI), 2011 IEEE Workshop on %D 2011 %T Hierarchical object recognition inspired by primate brain mechanisms %A Eris Chinellato %A Javier Felip %A Beata J. Grzyb %A Antonio Morales %A Angel P. del Pobil %K brain %K Estimation %K Grasping %K hierarchical object recognition %K Image color analysis %K multimodal integration %K mutual projection %K neurophysiology %K neuroscience hypothesis %K object recognition %K object weight estimation %K primate brain mechanism %K real robot %K robot vision %K Robots %K Shape %K visual processing %K Visualization %K visuomotor behavior %B Computational Intelligence for Visual Intelligence (CIVI), 2011 IEEE Workshop on %G eng %R 10.1109/CIVI.2011.5955017 %0 Conference Paper %B Robotics and Automation (ICRA), 2011 IEEE International Conference on %D 2011 %T Mind the gap - robotic grasping under incomplete observation %A J. Bohg %A M. Johnson-Roberson %A Beatriz León %A Javier Felip %A Gratal, X. %A N Bergstrom %A Danica Kragic %A Antonio Morales %K Approximation methods %K collision-free movements %K gap robotic grasping %K Grasping %K Image reconstruction %K incomplete observation %K manipulator kinematics %K mesh generation %K mesh reconstruction %K object shape prediction %K Planning %K Robots %K Shape %K Surface reconstruction %B Robotics and Automation (ICRA), 2011 IEEE International Conference on %G eng %R 10.1109/ICRA.2011.5980354 %0 Conference Paper %B IEEE International Conference on Robotics and Automation (ICRA) %D 2011 %T Mind the gap - robotic grasping under incomplete observation %A Bohg, Jeannette %A M. Johnson-Roberson %A Beatriz León %A Javier Felip %A Gratal, X %A N Bergstrom %A Danica Kragic %A Antonio Morales %K collision-free movements %K gap robotic grasping %K incomplete observation %K manipulator kinematics %K mesh generation %K mesh reconstruction %K object shape prediction %K Robots %B IEEE International Conference on Robotics and Automation (ICRA) %C Shanghai, China %G eng %U http://ieeexplore.ieee.org/xpls/abs\_all.jsp?arnumber=5980354 %R 10.1109/ICRA.2011.5980354 %0 Conference Paper %B Robotics and Automation (ICRA), 2010 IEEE International Conference on %D 2010 %T Embodiment independent manipulation through action abstraction %A Laaksonen, J. %A Javier Felip %A Antonio Morales %A V. Kyrki %K abstraction architecture %K Automata %K embodiment independent manipulation %K failure detection %K Hardware %K Humans %K imperfect environment knowledge %K Intelligent robots %K knowledge based systems %K knowledge transfer %K manipulator kinematics %K manipulator platforms %K robot programming %K Robot sensing systems %K Robotics and automation %K Robots %K Sensor phenomena and characterization %K sensor-based control %K sensors %K service tasks %K task analysis %K Uncertainty %K USA Councils %B Robotics and Automation (ICRA), 2010 IEEE International Conference on %G eng %R 10.1109/ROBOT.2010.5509153 %0 Conference Paper %B Intelligent Robots and Systems. IROS 2009. IEEE/RSJ International Conference on %D 2009 %T Robust sensor-based grasp primitive for a three-finger robot hand %A Javier Felip %A Antonio Morales %K contact-based sensor %K control law %K Feedback %K Force sensors %K grippers %K Intelligent robots %K Intelligent sensors %K Mobile robots %K naive grasp controller %K robot grasping %K Robot sensing systems %K Robust control %K robust sensor-based grasp primitive %K Robustness %K sensors %K Shape %K three-finger robot hand %K Uncertainty %B Intelligent Robots and Systems. IROS 2009. IEEE/RSJ International Conference on %G eng %R 10.1109/IROS.2009.5354760 %0 Conference Paper %B 8th Conference on Autonomous Robot Systems and Competitions %D 2008 %T The 2007 Spanish Humanoids Competition: From the Winners Point of View %A García, Juan Carlos %A Javier Felip %A P.J. Sanz %K humanoid robot %K learning %K robot competitions %B 8th Conference on Autonomous Robot Systems and Competitions %C Aveiro (Portugal) %8 04/2008 %@ 978-972-96895-3-6 %G eng