PhD Thesis
PhD Thesis
Title:
Development of techniques for haptic exploration and recognition of objects - a contribution to autonomous robotic hands
Author:
Ricardo Martins [ Google Scholar ]
Supervisors:
Jorge Dias [ Google Scholar ]
Miguel Castelo-Branco [ Google Scholar ]
Supporting materials: code and data
Additional details in the PhD thesis full-text manuscript. Check below.
Open Data: Human dexterous manipulation multimodal database]
Open Code: importDatasetTB MATLAB toolbox: integration of multi-modal data from human manipulation demonstrations]
Open Code: Human body and hand kinematic structure analysis in a 3D virtual environment]
Open Code: Reconstruction of octrees (volumetric grid) from 3D point-cloud]
Open Code: Instrumented Rubik cube touch data visualization too]
Alternative full-text PDF:
Chapter 0: Cover, Acknowledgment, Abstract - [download pdf - web version]
Chapter 1: Introduction - [download pdf - web version]
Chapter 2: Fundamentals - [download pdf - web version]
Chapter 3: Dexterous manipulation and exploration: from Humans to robots - [download pdf - web version]
Chapter 4: Recording Human manipulation and exploration movements - [download pdf - web version]
Chapter 5: Recognition of grasping primitives using tactile sensory data - [download pdf - web version]
Chapter 6: Categorization of soft objects during haptic exploration tasks - [download pdf - web version]
Chapter 7: Active haptic exploration of surfaces using robotic hands - [read and cite Neurocomputing paper (2017)] | [read and cite IROS paper (2014)]
School:
University of Coimbra
Date Published:
27-03-2017
Publisher website:
http://hdl.handle.net/10316/31939