Contact point detection for grasping an unknown object using self-posture changeability

  title={Contact point detection for grasping an unknown object using self-posture changeability},
  author={Makoto Kaneko and Kazuo Tanie},
  journal={IEEE Trans. Robotics and Automation},
Determining where the fingers of a multi-fingered robot hand touch an object of unknown shape plays an important role in achieving a stable grasp. This paper focuses on a scheme for identifying such contact points. Instead of mounting a distributed tactile sensor all over the finger links, we propose an active sensing approach using joint compliance. The proposed scheme is composed of two phases. In the first phase, the approach phase, each finger is extended to its most distal position as it… CONTINUE READING
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