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Robot grasping unmodeled objects using time-of-flight and torque data.

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Uploaded by on Mar 19, 2010

This video shows robotic grasping of unmodeled objects using a time-of-flight camera (Swiss Ranger SR4000) and the torque sensors in the fingers of the DLR/HIT 4-finger Hand to detect collisions and
correct the grasp. Our robot, KIMP, uses two KUKA LWR-4 arms, mounted on an omnidirectional platform. We used the ROS and YARP middlewares in this demo.
This is part of our work at the Intelligent Autonomous Systems group, led by Prof. Michael Beetz, at the Technische Univeritaet Munchen: http://ias.cs.tum.edu

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  • interesting questions...

    how robot decide if an object like milkbox... on some scene grabbed it from side, on another scene grabbed from top...

    another question..

    how it sensing a soligd rigid box, and similar saped airballon?

    baloon will collaps by its touch... so how robot decide, it can raise without objec falling out of ""fingers""

    anyway thank you to share this exciting video

  • Fantastic work!!!!

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