Matches in SemOpenAlex for { <https://semopenalex.org/work/W4200027192> ?p ?o ?g. }
Showing items 1 to 75 of
75
with 100 items per page.
- W4200027192 abstract "We present a soft humanoid hand with in-finger integrated cameras and in-hand real-time image processing system for fast reactive grasping. Specifically, we describe an FPGA-based, in-hand integrated, embedded system for processing visual data captured by the five in-finger cameras while avoiding high bandwidth raw data streaming via the robots real-time data bus. The hardware acceleration allows fast detection and localization of objects based on finger-camera images and provides input for a grasping controller. To this end, we implement a resource-aware encoder-decoder Convolutional Neural Network (CNN) for pixel-wise object segmentation and run inference on the in-hand embedded system at 3.58 GOPS. We evaluate the system, consisting of the soft hand with in-finger vision and the in-hand FPGA-accelerated CNN in several experiments on the humanoid robot ARMAR-6. Specifically, we evaluate the overall system response time, the ability to perform precision grasps and test reactivity and reliability that are required for handover actions. We obtain an overall system response time of 154 ms for catching a falling object and obtain a success rate of 90 % reliability for the power drill handover tasks. Further, we successfully demonstrate ability of dexterous grasping and manipulation of a pencil from a cup." @default.
- W4200027192 created "2021-12-31" @default.
- W4200027192 creator A5005440559 @default.
- W4200027192 creator A5012730104 @default.
- W4200027192 creator A5070748702 @default.
- W4200027192 creator A5086264704 @default.
- W4200027192 date "2021-09-27" @default.
- W4200027192 modified "2023-09-25" @default.
- W4200027192 title "Fast Reactive Grasping with In-Finger Vision and In-Hand FPGA-accelerated CNNs" @default.
- W4200027192 cites W1605005685 @default.
- W4200027192 cites W1996161518 @default.
- W4200027192 cites W2006273250 @default.
- W4200027192 cites W2037461330 @default.
- W4200027192 cites W2058718844 @default.
- W4200027192 cites W2063822181 @default.
- W4200027192 cites W2065692216 @default.
- W4200027192 cites W2067735405 @default.
- W4200027192 cites W2082991751 @default.
- W4200027192 cites W2136874613 @default.
- W4200027192 cites W2155840082 @default.
- W4200027192 cites W2410441722 @default.
- W4200027192 cites W2569244399 @default.
- W4200027192 cites W2729080111 @default.
- W4200027192 cites W2890493039 @default.
- W4200027192 cites W2909215892 @default.
- W4200027192 cites W2909980200 @default.
- W4200027192 cites W2941842768 @default.
- W4200027192 cites W2962688712 @default.
- W4200027192 cites W2963033241 @default.
- W4200027192 cites W2969028243 @default.
- W4200027192 cites W2982369787 @default.
- W4200027192 cites W3010867985 @default.
- W4200027192 cites W3011048530 @default.
- W4200027192 cites W3130962016 @default.
- W4200027192 cites W3132696336 @default.
- W4200027192 doi "https://doi.org/10.1109/iros51168.2021.9636043" @default.
- W4200027192 hasPublicationYear "2021" @default.
- W4200027192 type Work @default.
- W4200027192 citedByCount "4" @default.
- W4200027192 countsByYear W42000271922022 @default.
- W4200027192 countsByYear W42000271922023 @default.
- W4200027192 crossrefType "proceedings-article" @default.
- W4200027192 hasAuthorship W4200027192A5005440559 @default.
- W4200027192 hasAuthorship W4200027192A5012730104 @default.
- W4200027192 hasAuthorship W4200027192A5070748702 @default.
- W4200027192 hasAuthorship W4200027192A5086264704 @default.
- W4200027192 hasConcept C154945302 @default.
- W4200027192 hasConcept C31972630 @default.
- W4200027192 hasConcept C41008148 @default.
- W4200027192 hasConcept C42935608 @default.
- W4200027192 hasConcept C81363708 @default.
- W4200027192 hasConcept C9390403 @default.
- W4200027192 hasConceptScore W4200027192C154945302 @default.
- W4200027192 hasConceptScore W4200027192C31972630 @default.
- W4200027192 hasConceptScore W4200027192C41008148 @default.
- W4200027192 hasConceptScore W4200027192C42935608 @default.
- W4200027192 hasConceptScore W4200027192C81363708 @default.
- W4200027192 hasConceptScore W4200027192C9390403 @default.
- W4200027192 hasFunder F4320311649 @default.
- W4200027192 hasLocation W42000271921 @default.
- W4200027192 hasOpenAccess W4200027192 @default.
- W4200027192 hasPrimaryLocation W42000271921 @default.
- W4200027192 hasRelatedWork W1891287906 @default.
- W4200027192 hasRelatedWork W1968329900 @default.
- W4200027192 hasRelatedWork W1969923398 @default.
- W4200027192 hasRelatedWork W2365743651 @default.
- W4200027192 hasRelatedWork W2735477435 @default.
- W4200027192 hasRelatedWork W2772917594 @default.
- W4200027192 hasRelatedWork W2998526951 @default.
- W4200027192 hasRelatedWork W3119610945 @default.
- W4200027192 hasRelatedWork W4225949190 @default.
- W4200027192 hasRelatedWork W4288023407 @default.
- W4200027192 isParatext "false" @default.
- W4200027192 isRetracted "false" @default.
- W4200027192 workType "article" @default.