Ruggiero, Fabio (2010) Grasp and manipulation of objects with a multi-fingered hand in unstructured environments. [Tesi di dottorato] (Inedito)
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| Tipologia del documento: | Tesi di dottorato |
|---|---|
| Lingua: | English |
| Titolo: | Grasp and manipulation of objects with a multi-fingered hand in unstructured environments |
| Autori: | Autore Email Ruggiero, Fabio fabio.ruggiero@unina.it |
| Data: | 30 Novembre 2010 |
| Numero di pagine: | 93 |
| Istituzione: | Università degli Studi di Napoli Federico II |
| Dipartimento: | Informatica e sistemistica |
| Scuola di dottorato: | Ingegneria dell'informazione |
| Dottorato: | Ingegneria informatica ed automatica |
| Ciclo di dottorato: | 23 |
| Coordinatore del Corso di dottorato: | nome email Garofalo, Francesco franco.garofalo@unina.it |
| Tutor: | nome email Lippiello, Vincenzo vincenzo.lippiello@unina.it |
| Data: | 30 Novembre 2010 |
| Numero di pagine: | 93 |
| Parole chiave: | Object reconstruction; grasping; manipulation; unstructured environment; grasp quality measure |
| Settori scientifico-disciplinari del MIUR: | Area 09 - Ingegneria industriale e dell'informazione > ING-INF/04 - Automatica |
| Depositato il: | 21 Dic 2010 14:20 |
| Ultima modifica: | 30 Apr 2014 19:45 |
| URI: | http://www.fedoa.unina.it/id/eprint/8200 |
| DOI: | 10.6092/UNINA/FEDOA/8200 |
Abstract
In this thesis, new methods to grasp and to manipulate unknown objects with a robotic multi-fingered hand have been proposed. These methods have the goals to reduce the time of the execution of the grasp to be suitable with real-time applications and to exploit the redundancy in the ``multi-fingered hand + object" system in order to optimize other subtasks during manipulation. In particular, a visual system has been used to cope with the problem of unknown objects grasping. Then, it is straightforward to recognize that two main tasks have to be performed in such a context: object recognition/reconstruction and grasp planning. The motivation behind the proposed algorithm is that the visual reconstruction algorithm should guide the object's grasp planner in a coordinated manner. The same coordination aspects are the key-points of the proposed method about manipulation of objects: now, the fingers of the robotic hand have to cooperate in order to manipulate the object in the desired way with a good dexterity and this can be done exploiting the redundancy of the whole system.
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