Ricardo Martins

PhD Thesis

Title:

Development of techniques for haptic exploration and recognition of objects - a contribution to autonomous robotic hands

Author:

Ricardo Martins [ website | social ]

Supervisors:

Jorge Dias [ website | social ]

Miguel Castelo-Branco [ website | social ]

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

Identifier:

10316/31939