IEEE - Institute of Electrical and Electronics Engineers, Inc. - Sequential trajectory re-planning with tactile information gain for dexterous grasping under object-pose uncertainty

2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2013)

Author(s): Claudio Zito ; Marek S. Kopicki ; Rustam Stolkin ; Christoph Borst ; Florian Schmidt ; Maximo A. Roa ; Jeremy L. Wyatt
Sponsor(s): IEEE Ind. Electron. Soc.
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 November 2013
Conference Location: Tokyo, Japan
Conference Date: 3 November 2013
Page(s): 4,013 - 4,020
ISSN (Paper): 2153-0858
DOI: 10.1109/IROS.2013.6696930
Regular:

Dexterous grasping of objects with uncertain pose is a hard unsolved problem in robotics. This paper solves this problem using information gain re-planning. First we show how tactile information,... View More

Advertisement