@inproceedings{58a3f5ad4b1f48c5ac5e8f0605f38516,
title = "Improving Grasping Forces during the Manipulation of Unknown Objects",
abstract = "Many of the solutions proposed for the object manipulation problem are based on the knowledge of the object features. The approach proposed in this paper intends to provide a simple geometrical approach to securely manipulate an unknown object based only on tactile and kinematic information. The tactile and kinematic data obtained during the manipulation is used to recognize the object shape (at least the local object curvature), allowing to improve the grasping forces when this information is added to the manipulation strategy. The approach has been fully implemented and tested using the Schunk Dexterous Hand (SDH2). Experimental results are shown to illustrate the efficiency of the approach.",
author = "Andres Montano and Raul Suarez",
note = "Publisher Copyright: {\textcopyright} 2018 IEEE.; 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018 ; Conference date: 01-10-2018 Through 05-10-2018",
year = "2018",
month = dec,
day = "27",
doi = "10.1109/IROS.2018.8593655",
language = "English",
series = "IEEE International Conference on Intelligent Robots and Systems",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "3490--3495",
booktitle = "2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018",
address = "United States",
}