Heuristic grasping of convex objects using 3D imaging and tactile sensing in uncalibrated grasping scenarios

作者：

Highlights：

• Reactive grasping using vision and tactile sensing.

• We propose a system for grasping control using a biomimetic tactile sensor.

• The transformation between a Shadow Robot hand and a RGBD sensor is found.

• The system is evaluated in a real robot that grasps differently shaped object.

摘要

•Reactive grasping using vision and tactile sensing.•We propose a system for grasping control using a biomimetic tactile sensor.•The transformation between a Shadow Robot hand and a RGBD sensor is found.•The system is evaluated in a real robot that grasps differently shaped object.

论文关键词：Tactile sensing,RGBD vision,Heuristic grasping,Position/force control,Robot hands

论文评审过程：Received 5 June 2020, Revised 27 June 2022, Accepted 6 July 2022, Available online 11 July 2022, Version of Record 18 July 2022.

论文官网地址：https://doi.org/10.1016/j.eswa.2022.118114