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Fusing Joint Measurements and Visual Features for In-Hand Object Pose Estimation

Pfanne, Martin and Chalon, Maxime and Stulp, Freek and Albu-Schäffer, Alin Olimpiu (2018) Fusing Joint Measurements and Visual Features for In-Hand Object Pose Estimation. IEEE Robotics and Automation Letters, 3 (4), pp. 3497-3504. IEEE - Institute of Electrical and Electronics Engineers. DOI: 10.1109/LRA.2018.2853652 ISSN 2377-3766

[img] PDF - Postprint version (accepted manuscript)

Official URL: https://ieeexplore.ieee.org/document/8405543


For a robot to perform complex manipulation tasks, such as an in-hand manipulation, knowledge about the state of the grasp is required at all times. Moreover, even simple pick-and-place tasks may fail because unexpected motions of the object during the grasp are not accounted for. This letter proposes an approach that estimates the grasp state by combining finger measurements, i.e., joint positions and torques, with visual features that are extracted from monocular camera images. The different sensor modalities are fused using an extended Kalman filter. While the finger measurements allow to detect contacts and resolve collisions between the fingers and the estimated object, the visual features are used to align the object with the camera view. Experiments with the DLR robot David demonstrate the wide range of objects and manipulation scenarios that the method can be applied to. They also provide an insight into the strengths and limitations of the different complementary types of measurements.

Item URL in elib:https://elib.dlr.de/129165/
Document Type:Article
Title:Fusing Joint Measurements and Visual Features for In-Hand Object Pose Estimation
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Pfanne, Martinmartin.pfanne (at) dlr.deUNSPECIFIED
Chalon, MaximeMaxime.Chalon (at) dlr.deUNSPECIFIED
Stulp, FreekFreek.Stulp (at) dlr.deUNSPECIFIED
Albu-Schäffer, Alin OlimpiuAlin.Albu-Schaeffer (at) dlr.deUNSPECIFIED
Date:October 2018
Journal or Publication Title:IEEE Robotics and Automation Letters
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:No
DOI :10.1109/LRA.2018.2853652
Page Range:pp. 3497-3504
Bicchi, Antonieantonio.bicchi@gmail.com
Ding, Hanhding@sjtu.edu.cn
Publisher:IEEE - Institute of Electrical and Electronics Engineers
Keywords:Perception for grasping and manipulation, dexterous manipulation, sensor fusion
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Mehrfingrige Roboterhände
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Cognitive Robotics
Deposited By: Pfanne, Martin
Deposited On:23 Sep 2019 09:16
Last Modified:23 Sep 2019 09:16

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