Matches in SemOpenAlex for { <https://semopenalex.org/work/W2466575855> ?p ?o ?g. }
Showing items 1 to 77 of
77
with 100 items per page.
- W2466575855 abstract "In this dissertation, we describe how an intelligent sensor system can be utilized and controlled in an integrated manner to support robotic grasping. We use visual sensing and proximity sensing to identify and locate parts and use tactile sensing and force-torque sensing to ensure that the part is grasped correctly. For recognition, a new two dimensional vision system is developed, which can identify a part as a generic shape. Matching between the object and generic shape is performed in the frequency domain. The DFT of the object contour is decomposed to estimate the orientation of the object and to evaluate the similarity between the object and generic shape. This approach has many advantages over the conventional correlation technique. With only a few uniformly sampled points, this method can estimate the orientation in an optimal manner. Another advantage is its robustness against noise, since the method is performed in the frequency domain and includes implicit noise filtering. No preprocessing of the contour is required. However, uncertainties in the identity and location of the object arise from the two dimensional vision system. To resolve these uncertainties, a high-level control mechanism is developed to provide the verification of the grasped object. Two ways of verification are implemented. One is verification of the geometrical shape at the grasping position based on tactile images and the other is verification of the stable grasping condition based on force-torque data. The verification result is fed back to the control system or guides the recognition system by requesting another visual hypothesis. To efficiently implement these verifications, we schematically divide the manipulation of the grasping into three stages. Performance of the whole system is analyzed through experimentation." @default.
- W2466575855 created "2016-07-22" @default.
- W2466575855 creator A5009766307 @default.
- W2466575855 date "1987-01-01" @default.
- W2466575855 modified "2023-09-22" @default.
- W2466575855 title "Robotic adaptive grasping based on vision and tactile sensor data" @default.
- W2466575855 hasPublicationYear "1987" @default.
- W2466575855 type Work @default.
- W2466575855 sameAs 2466575855 @default.
- W2466575855 citedByCount "1" @default.
- W2466575855 crossrefType "journal-article" @default.
- W2466575855 hasAuthorship W2466575855A5009766307 @default.
- W2466575855 hasConcept C104317684 @default.
- W2466575855 hasConcept C115961682 @default.
- W2466575855 hasConcept C154945302 @default.
- W2466575855 hasConcept C16345878 @default.
- W2466575855 hasConcept C185592680 @default.
- W2466575855 hasConcept C2524010 @default.
- W2466575855 hasConcept C2781238097 @default.
- W2466575855 hasConcept C2988191880 @default.
- W2466575855 hasConcept C31972630 @default.
- W2466575855 hasConcept C33923547 @default.
- W2466575855 hasConcept C34736171 @default.
- W2466575855 hasConcept C41008148 @default.
- W2466575855 hasConcept C46722567 @default.
- W2466575855 hasConcept C5339829 @default.
- W2466575855 hasConcept C55493867 @default.
- W2466575855 hasConcept C63479239 @default.
- W2466575855 hasConcept C64876066 @default.
- W2466575855 hasConcept C90509273 @default.
- W2466575855 hasConcept C99498987 @default.
- W2466575855 hasConceptScore W2466575855C104317684 @default.
- W2466575855 hasConceptScore W2466575855C115961682 @default.
- W2466575855 hasConceptScore W2466575855C154945302 @default.
- W2466575855 hasConceptScore W2466575855C16345878 @default.
- W2466575855 hasConceptScore W2466575855C185592680 @default.
- W2466575855 hasConceptScore W2466575855C2524010 @default.
- W2466575855 hasConceptScore W2466575855C2781238097 @default.
- W2466575855 hasConceptScore W2466575855C2988191880 @default.
- W2466575855 hasConceptScore W2466575855C31972630 @default.
- W2466575855 hasConceptScore W2466575855C33923547 @default.
- W2466575855 hasConceptScore W2466575855C34736171 @default.
- W2466575855 hasConceptScore W2466575855C41008148 @default.
- W2466575855 hasConceptScore W2466575855C46722567 @default.
- W2466575855 hasConceptScore W2466575855C5339829 @default.
- W2466575855 hasConceptScore W2466575855C55493867 @default.
- W2466575855 hasConceptScore W2466575855C63479239 @default.
- W2466575855 hasConceptScore W2466575855C64876066 @default.
- W2466575855 hasConceptScore W2466575855C90509273 @default.
- W2466575855 hasConceptScore W2466575855C99498987 @default.
- W2466575855 hasLocation W24665758551 @default.
- W2466575855 hasOpenAccess W2466575855 @default.
- W2466575855 hasPrimaryLocation W24665758551 @default.
- W2466575855 hasRelatedWork W102778925 @default.
- W2466575855 hasRelatedWork W1530587179 @default.
- W2466575855 hasRelatedWork W1603342912 @default.
- W2466575855 hasRelatedWork W1968856353 @default.
- W2466575855 hasRelatedWork W1974472361 @default.
- W2466575855 hasRelatedWork W2003282374 @default.
- W2466575855 hasRelatedWork W2062007617 @default.
- W2466575855 hasRelatedWork W2076776712 @default.
- W2466575855 hasRelatedWork W2101552762 @default.
- W2466575855 hasRelatedWork W2502750086 @default.
- W2466575855 hasRelatedWork W2558131282 @default.
- W2466575855 hasRelatedWork W2754262186 @default.
- W2466575855 hasRelatedWork W2760543149 @default.
- W2466575855 hasRelatedWork W2771949459 @default.
- W2466575855 hasRelatedWork W2945402292 @default.
- W2466575855 hasRelatedWork W2969090342 @default.
- W2466575855 hasRelatedWork W3128140288 @default.
- W2466575855 hasRelatedWork W3176894496 @default.
- W2466575855 hasRelatedWork W3185561939 @default.
- W2466575855 hasRelatedWork W1968413804 @default.
- W2466575855 isParatext "false" @default.
- W2466575855 isRetracted "false" @default.
- W2466575855 magId "2466575855" @default.
- W2466575855 workType "article" @default.