Object recognition by grasping

Okada, Tokuji; Tsuchiya, Sho

doi:10.1016/0031-3203(77)90008-5

Cited by 28 publications

(5 citation statements)

References 2 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Using tactile sensing to recognize and/or locate objects has a long history [16,3,7,1], yet tactile sensing is used less often in robot manipulation than vision or range sensing. One possible reason is efficiency.…”

Section: Related Workmentioning

confidence: 99%

Task-Driven Tactile Exploration

Hsiao

Kaelbling

Lozano-Pérez

2010

Robotics: Science and Systems VI

View full text Add to dashboard Cite

Abstract-This paper presents a decision-theoretic approach to problems that require accurate placement of a robot relative to an object in the world, including grasping and insertion. The decision process is applied to a robot hand with tactile sensors, to localize the object and ultimately achieve a target placement by selecting among grasping and information-gathering trajectories. The process is demonstrated in simulation and on a real robot.

show abstract

Section: Related Workmentioning

confidence: 99%

Task-Driven Tactile Exploration

Hsiao

Kaelbling

Lozano-Pérez

2010

Robotics: Science and Systems VI

View full text Add to dashboard Cite

show abstract

“…An alternate and more realistic problem involves a finite sized claw, such as the section of an object one can grab with a hand. Okada and Tsuchiya [62] discuss a system which distinguishes between a ball, cylinder, and various prisms using the contact points of finger positions while grasping the object.…”

Section: Duality Between Finger and Hyperplane Probesmentioning

confidence: 99%

Interactive reconstruction via geometric probing

Skiena

1992

Proc. IEEE

View full text Add to dashboard Cite

Geometric probing considers problems of determining a geometric structure or some aspect of that structure from the results of a mathematical or physical measuring device, a probe. A variety of problems from robotics, medical instrumentation, mathematical optimization, integral and computational geometry, graph theory and other areas fit into this paradigm.This paper surveys the field of geometric probing, with results ordered by probing model. The emphasis is on interactive reconstruction, where the results of all previous measurements are used to determine the orientation of the next probe so it provides the maximum amount of information about the structure. Through interactive reconstruction, finite determination strategies exist for such diverse models as finger, x-ray, and half-plane probes.

show abstract

“…This work was able to distinguish a square pillar from a cylinder at 90% reliability. A similar approach was used by Okada and Tsuchiya [45] who used an eleven degree of freedom three-fingered hand to grasp objects and form binary patterns with the hand's contact sensors.…”

Section: Capabilities Of Tactile Sensorsmentioning

confidence: 99%