The application of particle filtering to grasping acquisition with visual occlusion and tactile sensing

@article{Lin2012TheAO,
  title={The application of particle filtering to grasping acquisition with visual occlusion and tactile sensing},
  author={Xiang Lin and Jeffrey C. Trinkle},
  journal={2012 IEEE International Conference on Robotics and Automation},
  year={2012},
  pages={3805-3812}
}
Advanced grasp control algorithms could benefit greatly from accurate tracking of the object as well as an accurate all-around knowledge of the system when the robot attempts a grasp. This motivates our study of the G-SL(AM)2 problem, in which two goals are simultaneously pursued: object tracking relative to the hand and estimation of parameters of the dynamic model. We view the G-SL(AM)2 problem as a filtering problem. Because of stick-slip friction and collisions between the object and hand… CONTINUE READING
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