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Robotic Grasping and Manipulation Challenge

RGMC 2016: Robotic Grasping and Manipulation pp 146–160Cite as

Improving Grasp Performance Using In-Hand Proximity and Contact Sensing

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Part of the book series: Communications in Computer and Information Science ((CCIS,volume 816))

Abstract

We describe the grasping and manipulation strategy that we employed at the autonomous track of the Robotic Grasping and Manipulation Competition at IROS 2016. A salient feature of our architecture is the tight coupling between visual (Asus Xtion) and tactile perception (Robotic Materials), to reduce the uncertainty in sensing and actuation. We demonstrate the importance of tactile sensing and reactive control during the final stages of grasping using a Kinova Robotic arm. The set of tools and algorithms for object grasping presented here have been integrated into the open-source Robot Operating System (ROS). We have focused exclusively on the manipulation aspect (Track 1) of the competition as the bin-picking task (Track 2) would require a different perception strategy, focusing more on object identification.

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Notes

  1. 1.

    https://github.com/correlllab/cu-perception-manipulation-stack.

  2. 2.

    http://wiki.ros.org/openni_launch/Tutorials/IntrinsicCalibration.

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Authors and Affiliations

  1. University of Colorado Boulder, Boulder, CO, 80309, USA

    Radhen Patel, Rebeca Curtis, Branden Romero & Nikolaus Correll

Authors
  1. Radhen Patel
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  2. Rebeca Curtis
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  3. Branden Romero
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  4. Nikolaus Correll
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Corresponding author

Correspondence to Nikolaus Correll .

Editor information

Editors and Affiliations

  1. University of South Florida, Tampa, Florida, USA

    Yu Sun

  2. National Institute of Standards and Technology, Gaithersburg, Maryland, USA

    Joe Falco

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Patel, R., Curtis, R., Romero, B., Correll, N. (2018). Improving Grasp Performance Using In-Hand Proximity and Contact Sensing. In: Sun, Y., Falco, J. (eds) Robotic Grasping and Manipulation. RGMC 2016. Communications in Computer and Information Science, vol 816. Springer, Cham. https://doi.org/10.1007/978-3-319-94568-2_9

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  • DOI: https://doi.org/10.1007/978-3-319-94568-2_9

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  • Online ISBN: 978-3-319-94568-2

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