3D Visual Data-Driven Spatiotemporal Deformations for Non-Rigid Object Grasping Using Robot Hands

Sensing techniques are important for solving problems of uncertainty inherent to intelligent grasping tasks. The main goal here is to present a visual sensing system based on range imaging technology for robot manipulation of non-rigid objects. Our proposal provides a suitable visual perception system of complex grasping tasks to support a robot controller when other sensor systems, such as tactile and force, are not able to obtain useful data relevant to the grasping manipulation task. In particular, a new visual approach based on RGBD data was implemented to help a robot controller carry out intelligent manipulation tasks with flexible objects. The proposed method supervises the interaction between the grasped object and the robot hand in order to avoid poor contact between the fingertips and an object when there is neither force nor pressure data. This new approach is also used to measure changes to the shape of an object’s surfaces and so allows us to find deformations caused by inappropriate pressure being applied by the hand’s fingers. Test was carried out for grasping tasks involving several flexible household objects with a multi-fingered robot hand working in real time. Our approach generates pulses from the deformation detection method and sends an event message to the robot controller when surface deformation is detected. In comparison with other methods, the obtained results reveal that our visual pipeline does not use deformations models of objects and materials, as well as the approach works well both planar and 3D household objects in real time. In addition, our method does not depend on the pose of the robot hand because the location of the reference system is computed from a recognition process of a pattern located place at the robot forearm. The presented experiments demonstrate that the proposed method accomplishes a good monitoring of grasping task with several objects and different grasping configurations in indoor environments.

Hādhā kitāb Uqlīdis

taḥrīr Muḥammad ibn Muḥammad al-mushtahir bi-Naṣīr al-Dīn al-Ṭūsī.

Hādhā kitāb al-Hadīyah al-ḥamīdīyah fī al-lughah al-Kurdīyah

ijtahada bi-jamʻihi Yūsuf Ḍiyāʼ al-Dīn Pashā al-Khālidī al-Maqdisī.

Kitāb-i Ādāb al-mulūk

[Muḥammad Rafīʻ ibn ʻAlī Aṣghar al-Ṭabāṭabāʼī].

Kitāb Sullam al-ʻulūm wa-ḥāshiyatihi al-mashhūrah bi-al-Qāḍī maʻa minhīyātih

[Muḥibb Allāh ibn ʻAbd al-Shakūr al-Bihārī].

Kitāb Fuṣūl al-badāʼiʻ fī uṣūl al-sharāʼiʻ

muʻallifuhu Shams al-Dīn Muḥammad ibn Ḥamzah ibn Muḥammad al-Fanārī.

Kitāb-i Khayrāt-i ḥisān

az talʼīfāt-i Iʻtimād al-Salṭanah Muḥammad Ḥasan Khān.

Kitāb-i Khulāṣat al-ḥikmat

az taʼlīfāt-i Muḥammad Ḥusayn Khān.

al- Juzʼ al-rābiʻ wa-al-khāmis min kitāb al-Intiṣār li-wāsiṭat ʻiqd al-amṣār

taʼlīf Ibrāhīm ibn Muḥammad ibn Aydamur al-ʻAlāʼī al-shahīr bi-Ibn Duqmāq.

Kitāb Qāmūs al-ʻāshiqīn fī akhbār al-Sayyid Ḥusayn Burhān al-Dīn

taʼlīf ʻAbd al-Munʻim al-ʻĀnī thumma al-Rāwī ; [muṣaḥḥiḥuhu Aḥmad ibn Saʻd al-Dīn ibn Muṣṭafá al-Qabbānī].

Kitāb al-Mukhtār fī kashf al-asrār

li-Zayn al-Dīn ʻAbd al-Raḥīm ibn ʻUmar al-Dimashqī al-maʻrūf bi-al-Jawbarī.

Hādhā kitāb Maṭāliʻ al-anẓār

li-Abī al-Thanāʼ Shams al-Dīn ibn Maḥmūd ibn ʻAbd al-Raḥmān al-Iṣfahānī. Maʻa matnihi Ṭawāliʻ al-anwār / li-ʻAbd Allāh ibn ʻUmar al-Bayḍāwī. wa-bi-hāmishihimā Ḥāshiyat al-Sayyid al-Sharīf al-Jurjānī.

Kitāb Muqaddimat al-adab

li-Abī al-Qāsim Maḥmūd ibn ʻUmar al-Zamakhsharī.

Kitāb Soḥbat ōrang ber-dōsa: [The friend of sinners; a collection of pious tracts in the Malay language]

Lithographed.