NDLI: Regrasp planning through throwing and catching

Content Provider	IEEE Xplore Digital Library
Author	Mousavi, S.J. Masehian, E. Moghaddam, S.K.
Copyright Year	2014
Abstract	Multi-fingered hands are the most sophisticated and complex robotic grippers which can be planned to exhibit highly versatile grasping tasks. A relatively new regrasp planning method is by throwing and catching objects, which cannot be considered as a quasi-static problem due to its high dynamism influenced by the gravity, impact forces, air resistance, friction, etc., and thus has rarely been researched. In this paper, rehttp://www.telegraph.co.uk/news/picturegalleries/worldnews/11318730/New-Year-2015-in-pictures-Fireworks-and-celebrations-around-the-world.html?frame=3152146grasp planning is performed through throwing and catching of various objects by a five-fingered anthropomorphic hand attached to a PUMA 560 manipulator. The planner uses an MLP neural network for learning from past throwing and catching experiences of objects with 9 different geometries. For the test set, five distinct objects with different geometries, densities, and center of mass were designed and tested. Experimental results of throwing and catching these objects showed that the minimum and maximum number of throws for successful catching was either 2 or 3, among which three objects needed just 2 tries (throws) thanks to the correct prediction of the implemented neural network.
Starting Page	462
Ending Page	467
File Size	1487639
Page Count	6
File Format	PDF
e-ISBN	9781479967438
DOI	10.1109/ICRoM.2014.6990945
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-10-15
Publisher Place	Iran
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robot kinematics Neural networks Grasping Planning Sensors Servomotors
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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