TY  - JOUR
AB  - Purpose– The purpose of this paper is to present a novel multimodal approach to the problem of planning and performing a reliable grasping action on unmodeled objects.Design/methodology/approach– The robotic system is composed of three main components. The first is a conceptual manipulation framework based on grasping primitives. The second component is a visual processing module that uses stereo images and biologically inspired algorithms to accurately estimate pose, size, and shape of an unmodeled target object. A grasp action is planned and executed by the third component of the system, a reactive controller that uses tactile feedback to compensate possible inaccuracies and thus complete the grasp even in difficult or unexpected conditions.Findings– Theoretical analysis and experimental results have shown that the proposed approach to grasping based on the concurrent use of complementary sensory modalities, is very promising and suitable even for changing, dynamic environments.Research limitations/implications– Additional setups with more complicate shapes are being investigated, and each module is being improved both in hardware and software.Originality/value– This paper introduces a novel, robust, and flexible grasping system based on multimodal integration.
VL  - 36
IS  - 4
SN  - 0143-991X
DO  - 10.1108/01439910910957138
UR  - https://doi.org/10.1108/01439910910957138
AU  - Grzyb Beata J.
AU  - Chinellato Eris
AU  - Morales Antonio
AU  - del Pobil Angel P.
ED  - Kenneth J. Waldron
PY  - 2009
Y1  - 2009/01/01
TI  - A 3D grasping system based on multimodal visual and tactile processing
T2  - Industrial Robot: An International Journal
PB  - Emerald Group Publishing Limited
SP  - 365
EP  - 369
Y2  - 2024/04/26
ER  -