Journal ArticleDOI
Video-based slip sensor for multidimensional information detecting in deformable object grasp
TLDR
A new method for slip detection based on video processing, which can offer multidimensional sensing information and it is applicable for gripping deformable objects with both textured and homogeneous surfaces is provided.About:
This article is published in Robotics and Autonomous Systems.The article was published on 2017-05-01. It has received 10 citations till now. The article focuses on the topics: Slip (materials science) & Video processing.read more
Citations
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Journal ArticleDOI
A Novel Dynamic-Vision-Based Approach for Tactile Sensing Applications
Fariborz Baghaei Naeini,Aamna Alali,Raghad Al-Husari,Amin Rigi,Mohammad K. Al-Sharman,Dimitrios Makris,Yahya Zweiri +6 more
TL;DR: This approach is the first event-based tactile sensor which utilizes the recent technology of neuromorphic cameras and provides higher sensitivity, a lower latency, and less computational and power consumption compared to other conventional vision-based techniques.
Journal ArticleDOI
A novel event-based incipient slip detection using Dynamic Active-Pixel Vision Sensor (DAVIS)
TL;DR: The results indicate that the sensor can detect incipient slippage with an average of 44.1 ms latency in unstructured environment for various objects and shows a high potential of the sensor being used for manipulation applications especially in dynamic environments.
Journal ArticleDOI
Slipping detection and control in gripping fruits and vegetables for agricultural robot
TL;DR: A sensitive slipping sensor was developed with a piezo resistor to control the griping force of the agricultural robot and showed that the slipping signal could be effectively extracted regardless of change in the normal gripping force.
Journal ArticleDOI
Grasp Planning Pipeline for Robust Manipulation of 3D Deformable Objects with Industrial Robotic Hand + Arm Systems
Lazher Zaidi,Juan Antonio Corrales Ramon,Laurent Sabourin,Belhassen-Chedli Bouzgarrou,Youcef Mezouar +4 more
TL;DR: All steps of the grasping process of deformable objects are considered in order to implement a complete grasp planning pipeline by computing the initial contact points (pregrasp strategy), and later, the contact forces and local deformations of the contact regions while the fingers close over the grasped object.
Journal ArticleDOI
Quantitative motion detection of in-hand objects for robotic grasp manipulation:
TL;DR: An innovative method for quantitative measurement of the motions of in-hand objects is presented and results show that the proposed method is effective in detecting multiple motion information of in -hand objects.
References
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Journal ArticleDOI
Speeded-Up Robust Features (SURF)
TL;DR: A novel scale- and rotation-invariant detector and descriptor, coined SURF (Speeded-Up Robust Features), which approximates or even outperforms previously proposed schemes with respect to repeatability, distinctiveness, and robustness, yet can be computed and compared much faster.
Journal ArticleDOI
A performance evaluation of local descriptors
TL;DR: It is observed that the ranking of the descriptors is mostly independent of the interest region detector and that the SIFT-based descriptors perform best and Moments and steerable filters show the best performance among the low dimensional descriptors.
Journal ArticleDOI
MLESAC: A New Robust Estimator with Application to Estimating Image Geometry
TL;DR: A new robust estimator MLESAC is presented which is a generalization of the RANSAC estimator which adopts the same sampling strategy as RANSac to generate putative solutions, but chooses the solution that maximizes the likelihood rather than just the number of inliers.
Journal ArticleDOI
Grasp stability during manipulative actions.
TL;DR: The control of adequate contact forces between the skin and an object (grasp stability) is examined for two classes of prehensile actions that employ a precision grip: lifting objects that are "passive" and preventing "active" objects from moving.
Proceedings ArticleDOI
Grasping force control of multi-fingered robot hand based on slip detection using tactile sensor
D. Gunji,Yoshitomo Mizoguchi,Seiichi Teshigawara,Aiguo Ming,Akio Namiki,M. Ishikawaand,Makoto Shimojo +6 more
TL;DR: This study proposes a method for detecting the slip of a grasped object using the force output of Center of Pressure (CoP) tactile sensors, and proposes a feedback control system with the CoP sensor force output.