Integration of vision, force and tactile sensing for grasping Export

@article{Allen_99, abstract = {Most robotic hands are either sensorless or lack the ability to report accurate position and force information relating to contact. This paper describes a robotic hand system that uses a limited set of native joint position and force sensing along with custom designed tactile sensors and real-time vision modules to accurately compute finger contacts and applied forces for grasping tasks. A number of experiments are described that show how these sensors can be combined to increase the capabilities of a robotic hand for grasping and manipulation tasks. 1}, author = {Allen, P. and Miller, A. and Oh, P. and Leibowitz, B.}, citeulike-article-id = {6067030}, citeulike-linkout-0 = {http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.118.6441}, journal = {Int'l Journal of Intelligent Mechatronics}, keywords = {graspin, vision}, pages = {129--149}, posted-at = {2009-11-04 08:56:41}, priority = {2}, title = {Integration of vision, force and tactile sensing for grasping}, url = {http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.118.6441}, volume = {4}, year = {1999} }

TY - JOUR ID - Allen_99 L3 - citeulike-article-id:6067030 N2 - Most robotic hands are either sensorless or lack the ability to report accurate position and force information relating to contact. This paper describes a robotic hand system that uses a limited set of native joint position and force sensing along with custom designed tactile sensors and real-time vision modules to accurately compute finger contacts and applied forces for grasping tasks. A number of experiments are described that show how these sensors can be combined to increase the capabilities of a robotic hand for grasping and manipulation tasks. 1 JF - Int'l Journal of Intelligent Mechatronics EP - 149 TI - Integration of vision, force and tactile sensing for grasping VL - 4 SP - 129 KW - graspin KW - vision AU - Allen, P AU - Miller, A AU - Oh, P AU - Leibowitz, B PY - 1999/// UR - http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.118.6441 ER -