NDLI: Practical object-grasp estimation without visual or tactile information for heavy-duty work machines

Content Provider	IEEE Xplore Digital Library
Author	Kamezaki, M. Iwata, H. Sugano, S.
Copyright Year	2013
Description	Author affiliation: Res. Inst. for Sci. & Eng. (RISE), Waseda Univ., Tokyo, Japan (Kamezaki, M.) \|\| Dept. of Modern Mech. Eng., Waseda Univ., Tokyo, Japan (Iwata, H.; Sugano, S.)
Abstract	This paper proposes a practical framework to estimate whether or not a grapple installed in demolition machines is in a grasp state. Object grasp is a highly difficult task that requires safe and precise operations, so identifying a grasp or non-grasp state is important for assisting an operator. These types of outdoor machines lack visual and tactile sensors, so the proposed framework adopts practically available lever operation and cylinder pressure sensors. The grasp is formed by a grasp motion, which is operations to make the grapple pinch an object, and the grasp state, where the grapple holds the object in any manipulator movements. Thus, the framework determinately confirms the grasp motion through the requisite conditions defined by using sequential changes of binarized operation and pressure data for the grapple and the manipulator, and stochastically confirms the grasp state through the enhancement conditions defined by using force and movement vectors including vertical downward force, movement in the longer direction, and horizontal reciprocating movement. The results of experiments conducted to transport objects using an instrumented hydraulic arm indicated that the proposed framework is effective for identifying grasp/non-grasp with high accuracy, independently of various operators and environments.
Sponsorship	IEEE Ind. Electron. Soc.
Starting Page	3210
Ending Page	3215
File Size	1414509
Page Count	6
File Format	PDF
ISSN	21530858
DOI	10.1109/IROS.2013.6696812
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2013-11-03
Publisher Place	Japan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Estimation Sensors Force Manipulators Machinery Grasping Electrocardiography
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Computer Science Applications Computer Vision and Pattern Recognition Software

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