aalto1 untyped-item.component.html
Probabilistic Surface Friction Estimation Based on Visual and Haptic Measurements
Loading...
Access rights
openAccess
publishedVersion
URL
Journal Title
Journal ISSN
Volume Title
A1 Alkuperäisartikkeli tieteellisessä aikakauslehdessä
This publication is imported from Aalto University research portal.
View publication in the Research portal (opens in new window)
View/Open full text file from the Research portal (opens in new window)
Other link related to publication (opens in new window)
View publication in the Research portal (opens in new window)
View/Open full text file from the Research portal (opens in new window)
Other link related to publication (opens in new window)
Unless otherwise stated, all rights belong to the author. You may download, display and print this publication for Your own personal use. Commercial use is prohibited.
Date
Major/Subject
Mcode
Degree programme
Language
en
Pages
8
Series
IEEE Robotics and Automation Letters, Volume 6, issue 2, pp. 2838-2845
Abstract
Accurately modeling local surface properties of objects is crucial to many robotic applications, from grasping to material recognition. Surface properties like friction are however difficult to estimate, as visual observation of the object does not convey enough information over these properties. In contrast, haptic exploration is time consuming as it only provides information relevant to the explored parts of the object. In this letter, we propose a joint visuo-haptic object model that enables the estimation of surface friction coefficient over an entire object by exploiting the correlation of visual and haptic information, together with a limited haptic exploration by a robotic arm. We demonstrate the validity of the proposed method by showing its ability to estimate varying friction coefficients on a range of real multi-material objects. Furthermore, we illustrate how the estimated friction coefficients can improve grasping success rate by guiding a grasp planner toward high friction areas.
Description
Other note
Citation
Nguyen Le, T, Verdoja, F, Abu-Dakka, F J & Kyrki, V 2021, 'Probabilistic Surface Friction Estimation Based on Visual and Haptic Measurements', IEEE Robotics and Automation Letters, vol. 6, no. 2, 9364673, pp. 2838-2845. https://doi.org/10.1109/LRA.2021.3062585