• 主题
高级搜索  >
历史搜索 清空历史
首页> 外文期刊>Advanced Robotics: The International Journal of the Robotics Society of Japan >Proximity-based non-contact perception and omnidirectional point-cloud generation based on hierarchical information on fingertip proximity sensors
【24h】

Proximity-based non-contact perception and omnidirectional point-cloud generation based on hierarchical information on fingertip proximity sensors

机译：Proximity-based non-contact perception and omnidirectional point-cloud generation based on hierarchical information on fingertip proximity sensors

获取原文
获取原文并翻译 | 示例
           
页面导航
  • 摘要
  • 著录项
  • 相关主题

摘要

In this study, we examine robotic proximity perception for both reactive control and 3D point-cloud acquisition using a multi-fingered robot hand. A reactive controller adjusts the relative position and orientation between the fingertips and the target object, while the robot-hand system gathers point-cloud data related to the shape of the object. An experimental result showed that the accuracy of the point-cloud generated using proximity perception was equivalent to or better than that of the point-cloud generated using a vision sensor. Based on the results, we propose proximity-based point-cloud acquisition using 'non-contact perception' motion to search the object's surface while preventing unintended collisions. The motion is then combined with the approaching and twisting motions of the robot hand. This enables multi-angles object detection complementarily with reactive fingertip control. Our experiments reveal that the proposed method can generate data-rich point-clouds for various general objects.

著录项

获取原文

客服邮箱：kefu@zhangqiaokeyan.com

京公网安备：11010802029741号 ICP备案号：京ICP备15016152号-6 六维联合信息科技 (北京) 有限公司©版权所有

  • 客服微信

  • 服务号