{"id":95031,"date":"2009-09-07T00:00:00","date_gmt":"2009-09-07T00:00:00","guid":{"rendered":"https:\/\/www.deberes.net\/tesis\/sin-categoria\/ision-based-planning-for-grasping-unknown-objects\/"},"modified":"2009-09-07T00:00:00","modified_gmt":"2009-09-07T00:00:00","slug":"ision-based-planning-for-grasping-unknown-objects","status":"publish","type":"post","link":"https:\/\/www.deberes.net\/tesis\/inteligencia-artificial\/ision-based-planning-for-grasping-unknown-objects\/","title":{"rendered":"Ision-based planning for grasping unknown objects"},"content":{"rendered":"<h2>Tesis doctoral de <strong> Abdelmadjid Boudaba <\/strong><\/h2>\n<p>Object grasping plays a key role in robotics. The problem of achieving efficient grasps is clearly of  considerable importance in many areas of robotics such as feeding, fixturing, loading, assembly, and  manipulation in general, and it is therefore of utmost and direct practical application. While significant  progress has been made in the study of the desirable properties necessary to analyze and synthesize a  grasp, more research is still needed. Dexterous manipulation requires a high level of sensory data and  feedback from the robotic systems to perform grasping and manipulation tasks. As a consequence,  current robotic systems have been adapted to fit the need of grasping by using the principle of sensing- planning-action. In order to grasp an object, robotic systems must obtain relevant information from  sensors.   the sensor information required typically includes contact point estimation, surface normal and curvature  measures, and knowledge of both applied and induced forces on the fingers. Despite the advances in  research, much of the work in grasping task is based on the use of cad models of the objects to be  grasped, so as to predefine a set of candidate grasps, or on simplified mode of control for complex  manipulation tasks. In fact, most of the existing grasp planning algorithms suffer from ineffectiveness due  to their inability to perform satisfactorily in real world applications.     it is worthwhile to discover more general properties of robotic systems, so that they can be capable of  taking decisions, interacting with their environment and carrying out tasks successfully. What is desirable  is to create and to develop a methodology for planning strategies that perform well on completely  unknown objects, that incorporates vision and other sensors that are also useful for the visual guidance of  a manipulator, and taking into account the constraints imposed by the working environment.    this thesis addresses the problem of vision based planning for grasping unknown objects. The proposed  approach does not rely on prior models of the objects to be grasped; the information obtained from vision  and from tactile sensors located at the fingertip  of the hand will be used as sensor data input for both  grasp planning and control of grasping positions. In this approach, the following computational tasks are  included: (1) the definition of a basic grasping system framework; (2) the analysis of several methods for  object contour description for extracting grasp regions; (3) the development of several algorithms for the  selection of the appropriate contact locations of a grasp on planar objects using visual features; (4) the  development of a method based on matching tactile and visual features for controlling the finger po-  sitions in order to guide the gripper towards the desired positions before the task of grasping is executed.  finally, all grasp planning algorithms discussed in this thesis are implementations and their performance  is evaluated on a variety of objects.<\/p>\n<p>&nbsp;<\/p>\n<h3>Datos acad\u00e9micos de la tesis doctoral \u00ab<strong>Ision-based planning for grasping unknown objects<\/strong>\u00ab<\/h3>\n<ul>\n<li><strong>T\u00edtulo de la tesis:<\/strong>\u00a0 Ision-based planning for grasping unknown objects <\/li>\n<li><strong>Autor:<\/strong>\u00a0 Abdelmadjid Boudaba <\/li>\n<li><strong>Universidad:<\/strong>\u00a0 Polit\u00e9cnica de catalunya<\/li>\n<li><strong>Fecha de lectura de la tesis:<\/strong>\u00a0 09\/07\/2009<\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n<h3>Direcci\u00f3n y tribunal<\/h3>\n<ul>\n<li><strong>Director de la tesis<\/strong>\n<ul>\n<li>Al\u00edcia Casals Gelp\u00ed<\/li>\n<\/ul>\n<\/li>\n<li><strong>Tribunal<\/strong>\n<ul>\n<li>Presidente del tribunal: ra\u00fal Su\u00e1rez feijoo <\/li>\n<li>rachid Alami (vocal)<\/li>\n<li>heinz W\u00ed\u00b6rn (vocal)<\/li>\n<li>marc Carreras p\u00e9rez (vocal)<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n","protected":false},"excerpt":{"rendered":"<p>Tesis doctoral de Abdelmadjid Boudaba Object grasping plays a key role in robotics. The problem of achieving efficient grasps is [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"site-sidebar-layout":"default","site-content-layout":"","ast-site-content-layout":"","site-content-style":"default","site-sidebar-style":"default","ast-global-header-display":"","ast-banner-title-visibility":"","ast-main-header-display":"","ast-hfb-above-header-display":"","ast-hfb-below-header-display":"","ast-hfb-mobile-header-display":"","site-post-title":"","ast-breadcrumbs-content":"","ast-featured-img":"","footer-sml-layout":"","theme-transparent-header-meta":"","adv-header-id-meta":"","stick-header-meta":"","header-above-stick-meta":"","header-main-stick-meta":"","header-below-stick-meta":"","astra-migrate-meta-layouts":"default","ast-page-background-enabled":"default","ast-page-background-meta":{"desktop":{"background-color":"var(--ast-global-color-4)","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-gradient":""},"tablet":{"background-color":"","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-gradient":""},"mobile":{"background-color":"","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-gradient":""}},"ast-content-background-meta":{"desktop":{"background-color":"var(--ast-global-color-5)","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-gradient":""},"tablet":{"background-color":"var(--ast-global-color-5)","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-gradient":""},"mobile":{"background-color":"var(--ast-global-color-5)","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-gradient":""}},"footnotes":""},"categories":[54687,2528,15596,9463,13355],"tags":[195656,41205,195658,74128,195657,46423],"class_list":["post-95031","post","type-post","status-publish","format-standard","hentry","category-cibernetica","category-inteligencia-artificial","category-politecnica-de-catalunya","category-sistemas-automatizados-de-produccion","category-sistemas-de-control","tag-abdelmadjid-boudaba","tag-alicia-casals-gelpi","tag-heinz-wirn","tag-marc-carreras-perez","tag-rachid-alami","tag-raul-suarez-feijoo"],"_links":{"self":[{"href":"https:\/\/www.deberes.net\/tesis\/wp-json\/wp\/v2\/posts\/95031","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/www.deberes.net\/tesis\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/www.deberes.net\/tesis\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/www.deberes.net\/tesis\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/www.deberes.net\/tesis\/wp-json\/wp\/v2\/comments?post=95031"}],"version-history":[{"count":0,"href":"https:\/\/www.deberes.net\/tesis\/wp-json\/wp\/v2\/posts\/95031\/revisions"}],"wp:attachment":[{"href":"https:\/\/www.deberes.net\/tesis\/wp-json\/wp\/v2\/media?parent=95031"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.deberes.net\/tesis\/wp-json\/wp\/v2\/categories?post=95031"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.deberes.net\/tesis\/wp-json\/wp\/v2\/tags?post=95031"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}