{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,12,12]],"date-time":"2025-12-12T13:33:29Z","timestamp":1765546409120,"version":"build-2065373602"},"reference-count":38,"publisher":"MDPI AG","issue":"7","license":[{"start":{"date-parts":[[2019,4,2]],"date-time":"2019-04-02T00:00:00Z","timestamp":1554163200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100003791","name":"HIWIN Technologies","doi-asserted-by":"publisher","award":["104-S-A13"],"award-info":[{"award-number":["104-S-A13"]}],"id":[{"id":"10.13039\/501100003791","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>Robots frequently need to work in human environments and handle many different types of objects. There are two problems that make this challenging for robots: human environments are typically cluttered, and the multi-finger robot hand needs to grasp and to lift objects without knowing their mass and damping properties. Therefore, this study combined vision and robot hand real-time grasp control action to achieve reliable and accurate object grasping in a cluttered scene. An efficient online algorithm for collision-free grasping pose generation according to a bounding box is proposed, and the grasp pose will be further checked for grasp quality. Finally, by fusing all available sensor data appropriately, an intelligent real-time grasp system was achieved that is reliable enough to handle various objects with unknown weights, friction, and stiffness. The robots used in this paper are the NTU 21-DOF five-finger robot hand and the NTU 6-DOF robot arm, which are both constructed by our Lab.<\/jats:p>","DOI":"10.3390\/s19071595","type":"journal-article","created":{"date-parts":[[2019,4,3]],"date-time":"2019-04-03T03:39:28Z","timestamp":1554262768000},"page":"1595","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":32,"title":["Robot Intelligent Grasp of Unknown Objects Based on Multi-Sensor Information"],"prefix":"10.3390","volume":"19","author":[{"given":"Shan-Qian","family":"Ji","sequence":"first","affiliation":[{"name":"Robotics Laboratory, Department of Mechanical Engineering, National Taiwan University, Taipei 10617, Taiwan"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-4888-7291","authenticated-orcid":false,"given":"Ming-Bao","family":"Huang","sequence":"additional","affiliation":[{"name":"Robotics Laboratory, Department of Mechanical Engineering, National Taiwan University, Taipei 10617, Taiwan"}]},{"given":"Han-Pang","family":"Huang","sequence":"additional","affiliation":[{"name":"Robotics Laboratory, Department of Mechanical Engineering, National Taiwan University, Taipei 10617, Taiwan"}]}],"member":"1968","published-online":{"date-parts":[[2019,4,2]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"603","DOI":"10.1080\/02533839.2017.1372224","article-title":"IoT-based networking for humanoid robots","volume":"40","author":"Huang","year":"2017","journal-title":"J. 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