The multi-dimensional quality of task requirements for dextrous robot hand control

Liu, H.; Iberall, Thea; Bekey, George A.

doi:10.1109/robot.1989.100028

Cited by 33 publications

(13 citation statements)

References 8 publications

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“…This approach tries to simplify the choice of a grasp by reasoning at a more abstract level, similarly as humans. Instead of geometric CAD models, these approaches use more symbolic description of the objects, either based on volumetric primitives [8,9], or precomputed models of the objects, matched through vision [10]. Alternatively, they use a previous knowledge of grasp prototypes [11], that are adapted to particular object by using predefined rules or sensor feedback [12][13][14].…”

Section: Introductionmentioning

confidence: 99%

Vision-based three-finger grasp synthesis constrained by hand geometry

Morales

Sanz

Pobil

et al. 2006

Robotics and Autonomous Systems

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Section: Introductionmentioning

confidence: 99%

Vision-based three-finger grasp synthesis constrained by hand geometry

Morales

Sanz

Pobil

et al. 2006

Robotics and Autonomous Systems

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“…Alternatively, the so-called knowledge-based approach tries to simplify the grasp planning problem by reasoning on a more symbolic level. Objects are often described using shape primitives [16,17], grasp prototypes are defined in terms of purposeful hand preshapes [13,15], and the planning and selection of grasps is made according to programmed decision rules [18]. Recently, the knowledge-based approach has been combined with vision-force-tactile feedback and task-related features that improve the robot performance in real scenarios [19].…”

Section: State Of the Artmentioning

confidence: 99%

Visually-guided manipulation techniques for robotic autonomous underwater panel interventions

Peñalver

Pérez

Fernández

et al. 2015

Annual Reviews in Control

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The long term of this ongoing research has to do with increasing the autonomy levels for underwater intervention missions. Bearing in mind that the specific mission to face has been the intervention on a panel, in this paper some results in different development stages are presented by using the real mechatronics and the panel mockup. Furthermore, some details are highlighted describing two methodologies implemented for the required visually-guided manipulation algorithms, and also a roadmap explaining the different testbeds used for experimental validation, in increasing complexity order, are presented. It is worth mentioning that the aforementioned results would be impossible without previous generated know-how for both, the complete developed mechatronics for the autonomous underwater vehicle for intervention, and the required 3D simulation tool. In summary, thanks to the implemented approach, the intervention system is able to control the way in which the gripper approximates and manipulates the two panel devices (i.e. a valve and a connector) in autonomous manner and, results in different scenarios demonstrate the reliability and feasibility of this autonomous intervention system in water tank and pool conditions.

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“…Alternatively, the so-called knowledgebased approach tries to simplify the grasp planning problem by reasoning on a more symbolic level. Objects are often described using shape primitives [22,50], grasp prototypes are defined in terms of purposeful hand preshapes [27,28], and the planning and selection of grasps is made according to programmed decision rules [3].…”

Section: Planning Grasping and Manipulation For Intervention Missionsmentioning

confidence: 99%

Robotic Manipulation Within the Underwater Mission Planning Context

Pérez

Sales

Peñalver

et al. 2015

Motion and Operation Planning of Robotic Systems

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Nowadays, there is an increasing demand for underwater intervention systems around the world in several application domains. The commercially available systems are far from what is demanded in many aspects, justifying the need of more autonomous, cheap and easy-to-use solutions for underwater intervention missions. The chapter begins making a review of the most important research projects that have been able to demonstrate some results in sea conditions. Then, the expertise and know-how developed in the context of our research group in the last years is presented. Maybe, one of the main achieved results, from the methodological point of view, is a three-layer general system architecture based on the Robot Operating System (ROS), which allows an underwater vehicle to perform intervention missions with a high degree of autonomy, independently of the targeted scenario. Moreover, the use of an underwater simulator as a 3D simulation tool for benchmarking and Human Robot Interaction (HRI) is also discussed. In summary, a methodology has been developed for experimental validation, independently of the specific underwater intervention problem to solve. It consists on the use of the simulator, as a prior step before moving to any of the testbeds used for experimental validation. The reliability and feasibility of this methodology has been demonstrated for intervention missions in sea trial conditions.

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The multi-dimensional quality of task requirements for dextrous robot hand control

Cited by 33 publications

References 8 publications

Vision-based three-finger grasp synthesis constrained by hand geometry

Vision-based three-finger grasp synthesis constrained by hand geometry

Visually-guided manipulation techniques for robotic autonomous underwater panel interventions

Robotic Manipulation Within the Underwater Mission Planning Context

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