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Fusion of stereo vision, force-torque, and joint sensors for estimation of in-hand object location

Hebert, Paul and Hudson, Nicolas and Ma, Jeremy and Burdick, Joel (2011) Fusion of stereo vision, force-torque, and joint sensors for estimation of in-hand object location. In: 2011 IEEE International Conference on Robotics and Automation. IEEE , Piscataway, NJ, pp. 5935-5941. ISBN 978-1-61284-385-8 . https://resolver.caltech.edu/CaltechAUTHORS:20170307-170440938

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Abstract

This paper develops a method to fuse stereo vision, force-torque sensor, and joint angle encoder measurements to estimate and track the location of a grasped object within the hand. We pose the problem as a hybrid systems estimation problem, where the continuous states are the object 6D pose, finger contact location, wrist-to-camera transform and the discrete states are the finger contact modes with the object. This paper develops the key measurement equations that govern the fusion process. Experiments with a Barrett Hand, Bumblebee 2 stereo camera, and an ATI omega force-torque sensor validate and demonstrate the method.


Item Type:Book Section
Related URLs:
URLURL TypeDescription
https://doi.org/10.1109/ICRA.2011.5980185DOIArticle
http://ieeexplore.ieee.org/document/5980185/PublisherArticle
Additional Information:© 2011 IEEE. The author gratefully acknowledges the support from the National Science and Engineering Research Council of Canada (NSERC).
Funders:
Funding AgencyGrant Number
Natural Sciences and Engineering Research Council of Canada (NSERC)UNSPECIFIED
Record Number:CaltechAUTHORS:20170307-170440938
Persistent URL:https://resolver.caltech.edu/CaltechAUTHORS:20170307-170440938
Official Citation:P. Hebert, N. Hudson, J. Ma and J. Burdick, "Fusion of stereo vision, force-torque, and joint sensors for estimation of in-hand object location," 2011 IEEE International Conference on Robotics and Automation, Shanghai, 2011, pp. 5935-5941. doi: 10.1109/ICRA.2011.5980185
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:74879
Collection:CaltechAUTHORS
Deposited By: Kristin Buxton
Deposited On:08 Mar 2017 03:42
Last Modified:03 Oct 2019 16:44

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