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Optimal Grasping Using Visual and Tactile Feedback

Summary

An integrated grasping method which can cover whole grasping process is proposed. In this method grasping is planned through both the non-contact phase and the contact phase by using visual and tactile feedback. As a result, grasping becomes robust to disturbances and flexible to accidents.

noncontact phase

contact phase

For this method we propose a new evaluation function which can be used through whole grasping process. This has the form of potential function and can be easily calculated in online sensor feedback loop. Then a planning method is proposed, which optimizes these evaluation functions and uses visual and tactile feedback. Experimental results are presented.

system

photo

References

  1. Akio Namiki, Takashi Komuro, Masatoshi Ishikawa: High-speed sensory-motor fusion for robotic grasping, Measurement Science and Technology, vol.13, no.11, pp.1767--1778, 2002
  2. A. Namiki, M. Ishikawa: Optimal Grasping Using Visual and Tactile Feedback, Proc. IEEE Int. Conf. on Multisensor Fusion and Integration for Intelligent Systems, pp.584-596, 1996 [ ps+gzip ]
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