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MagicHand: In-hand perception of object characteristics for dexterous manipulation

Li, Hui
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He, Hongsheng
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Li, Hui
He, Hongsheng
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2019-04-26
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Li, Hui, He, Hongsheng. 2019. MagicHand: In-hand perception of object characteristics for dexterous manipulation -- In Proceedings: 15th Annual Symposium on Graduate Research and Scholarly Projects. Wichita, KS: Wichita State University
Abstract
Perception of object materials improves the understanding of object characteristics such as fragility, rigidity, texture, mass and density, therefore facilitating and innovating robotic grasping. In this work, a novel way is proposed to identify these important characteristics for dexterous grasping. Near-infrared (NIR) spectra were collected for six types of materials including ceramic, stainless steel, wood, cardboard, plastic and glass using the in-hand SCiO sensor. A deep-learning model is designed to classify the spectra. The proposed approach is evaluated for dexterous grasping based on the perceived object characteristics. The experiment results achieve 99.96% accuracy on material recognition. In the grasping experiment, the robotic hand selected different grasping strategies for objects that are with similar dimensions but made of different materials. The results showed improved grasping strategies based on characteristics of objects perceived by our algorithm.
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Presented to the 15th Annual Symposium on Graduate Research and Scholarly Projects (GRASP) held at the Rhatigan Student Center, Wichita State University, April 26, 2019.
Research completed in the Department of Electrical Engineering and Computer Sciences, College of Engineering
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Wichita State University
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GRASP
v. 15
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http://hdl.handle.net/10057/16203
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Proceedings 2019: 15th Annual Symposium on Graduate Research and Scholarly Projects
EECS Graduate Student Conference Papers
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