Optimal grasping using visual and tactile feedback
- 23 December 2002
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- p. 589-596
- https://doi.org/10.1109/mfi.1996.572234
Abstract
Sensor feedback and sensor fusion are indispensable for working in the real world. In this paper a robot hand grasping method is proposed. This method uses visual and tactile sensor information. First, grasping evaluation functions are proposed, which are derived from the relationships between a hand and an object. Then a control method is proposed which uses visual and tactile feedback. In this method pre-shaping and grasping are executed smoothly and optimally. Experimental results are presented and a "1 ms sensory-motor system" is introduced as the experimental system for sensor fusion.Keywords
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