FRINK Linked Data Fragments server

Matches in SemOpenAlex for { <https://semopenalex.org/work/W4313306243> ?p ?o ?g. }

• W4313306243 endingPage "85" @default.
• W4313306243 startingPage "73" @default.
• W4313306243 abstract "Unlike traditional robotic hands, underactuated compliant hands are challenging to model due to inherent uncertainties. Consequently, pose estimation of a grasped object is usually performed based on visual perception. However, visual perception of the hand and object can be limited in occluded or partly-occluded environments. In this paper, we aim to explore the use of haptics, i.e., kinesthetic and tactile sensing, for pose estimation and in-hand manipulation with underactuated hands. Such haptic approach would mitigate occluded environments where line-of-sight is not always available. We put an emphasis on identifying the feature state representation of the system that does not include vision and can be obtained with simple and low-cost hardware. For tactile sensing, therefore, we propose a low-cost and flexible sensor that is mostly 3D printed along with the finger-tip and can provide implicit contact information. Taking a two-finger underactuated hand as a test-case, we analyze the contribution of kinesthetic and tactile features along with various regression models to the accuracy of the predictions. Furthermore, we propose a Model Predictive Control (MPC) approach which utilizes the pose estimation to manipulate objects to desired positions solely based on haptics. We have conducted a series of experiments that validate the ability to estimate poses of various objects with different geometry, stiffness and texture, and show manipulation to goals in the workspace with relatively high accuracy." @default.
• W4313306243 created "2023-01-06" @default.
• W4313306243 creator A5030031036 @default.
• W4313306243 creator A5030565378 @default.
• W4313306243 creator A5064808695 @default.
• W4313306243 date "2023-01-01" @default.
• W4313306243 modified "2023-09-26" @default.
• W4313306243 title "Learning Haptic-Based Object Pose Estimation for In-Hand Manipulation Control With Underactuated Robotic Hands" @default.
• W4313306243 cites W2017611432 @default.
• W4313306243 cites W2019165997 @default.
• W4313306243 cites W2022430352 @default.
• W4313306243 cites W2027701333 @default.
• W4313306243 cites W2031835394 @default.
• W4313306243 cites W2041437888 @default.
• W4313306243 cites W2059772445 @default.
• W4313306243 cites W2115975197 @default.
• W4313306243 cites W2123062563 @default.
• W4313306243 cites W2125328830 @default.
• W4313306243 cites W2149286243 @default.
• W4313306243 cites W2150457055 @default.
• W4313306243 cites W2155337985 @default.
• W4313306243 cites W2204882787 @default.
• W4313306243 cites W2295747340 @default.
• W4313306243 cites W2332184772 @default.
• W4313306243 cites W2410091565 @default.
• W4313306243 cites W2563720727 @default.
• W4313306243 cites W2589847876 @default.
• W4313306243 cites W2619378249 @default.
• W4313306243 cites W2737912442 @default.
• W4313306243 cites W2808191374 @default.
• W4313306243 cites W2887302987 @default.
• W4313306243 cites W2892294503 @default.
• W4313306243 cites W2911386938 @default.
• W4313306243 cites W2946757886 @default.
• W4313306243 cites W2962688712 @default.
• W4313306243 cites W2962872206 @default.
• W4313306243 cites W2968095426 @default.
• W4313306243 cites W3000872671 @default.
• W4313306243 cites W3015462157 @default.
• W4313306243 cites W3040887933 @default.
• W4313306243 cites W3041222106 @default.
• W4313306243 cites W3090445473 @default.
• W4313306243 cites W3090952732 @default.
• W4313306243 cites W3130801148 @default.
• W4313306243 cites W3138826070 @default.
• W4313306243 cites W3162887243 @default.
• W4313306243 cites W3175270462 @default.
• W4313306243 cites W3176397544 @default.
• W4313306243 cites W3196588585 @default.
• W4313306243 cites W3204982605 @default.
• W4313306243 cites W3214378007 @default.
• W4313306243 cites W4205742288 @default.
• W4313306243 cites W4211049957 @default.
• W4313306243 cites W4212861043 @default.
• W4313306243 cites W4281887079 @default.
• W4313306243 cites W971303027 @default.
• W4313306243 doi "https://doi.org/10.1109/toh.2022.3232713" @default.
• W4313306243 hasPubMedId "https://pubmed.ncbi.nlm.nih.gov/37015658" @default.
• W4313306243 hasPublicationYear "2023" @default.
• W4313306243 type Work @default.
• W4313306243 citedByCount "2" @default.
• W4313306243 countsByYear W43133062432023 @default.
• W4313306243 crossrefType "journal-article" @default.
• W4313306243 hasAuthorship W4313306243A5030031036 @default.
• W4313306243 hasAuthorship W4313306243A5030565378 @default.
• W4313306243 hasAuthorship W4313306243A5064808695 @default.
• W4313306243 hasBestOaLocation W43133062432 @default.
• W4313306243 hasConcept C138496976 @default.
• W4313306243 hasConcept C138885662 @default.
• W4313306243 hasConcept C152086174 @default.
• W4313306243 hasConcept C154945302 @default.
• W4313306243 hasConcept C15744967 @default.
• W4313306243 hasConcept C2776401178 @default.
• W4313306243 hasConcept C2781238097 @default.
• W4313306243 hasConcept C31972630 @default.
• W4313306243 hasConcept C41008148 @default.
• W4313306243 hasConcept C41895202 @default.
• W4313306243 hasConcept C46722567 @default.
• W4313306243 hasConcept C52102323 @default.
• W4313306243 hasConcept C55457006 @default.
• W4313306243 hasConcept C58581272 @default.
• W4313306243 hasConcept C88337583 @default.
• W4313306243 hasConcept C90509273 @default.
• W4313306243 hasConceptScore W4313306243C138496976 @default.
• W4313306243 hasConceptScore W4313306243C138885662 @default.
• W4313306243 hasConceptScore W4313306243C152086174 @default.
• W4313306243 hasConceptScore W4313306243C154945302 @default.
• W4313306243 hasConceptScore W4313306243C15744967 @default.
• W4313306243 hasConceptScore W4313306243C2776401178 @default.
• W4313306243 hasConceptScore W4313306243C2781238097 @default.
• W4313306243 hasConceptScore W4313306243C31972630 @default.
• W4313306243 hasConceptScore W4313306243C41008148 @default.
• W4313306243 hasConceptScore W4313306243C41895202 @default.
• W4313306243 hasConceptScore W4313306243C46722567 @default.
• W4313306243 hasConceptScore W4313306243C52102323 @default.
• W4313306243 hasConceptScore W4313306243C55457006 @default.
• W4313306243 hasConceptScore W4313306243C58581272 @default.
• W4313306243 hasConceptScore W4313306243C88337583 @default.

• next