Ruggiero, Fabio
(2010)
Grasp and manipulation of objects with a multi-fingered hand in unstructured environments.
[Tesi di dottorato]
(Inedito)
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 |
[error in script]
[error in script]
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.
Downloads per month over past year
Actions (login required)
|
Modifica documento |