In-Hand Object Localization and Control: Enabling Dexterous Manipulation with Robotic Hands
Martin Pfanne
0 /
5.0
0 comments
How much do you like this book?
What?s the quality of the file?
Download the book for quality assessment
What?s the quality of the downloaded files?
This book introduces a novel model-based dexterous manipulation framework, which, thanks to its precision and versatility, significantly advances the capabilities of robotic hands compared to the previous state of the art. This is achieved by combining a novel grasp state estimation algorithm, the first to integrate information from tactile sensing, proprioception and vision, with an impedance-based in-hand object controller, which enables leading manipulation capabilities, including finger gaiting. The developed concept is implemented on one of the most advanced robotic manipulators, the DLR humanoid robot David, and evaluated in a range of challenging real-world manipulation scenarios and tasks. This book greatly benefits researchers in the field of robotics that study robotic hands and dexterous manipulation topics, as well as developers and engineers working on industrial automation applications involving grippers and robotic manipulators.
click to read more
Categories:
Technique – Electronics: Robotics
Year:
2022
Publisher:
Springer
Language:
english
Pages:
212 / 213
ISBN 10:
3031069668
ISBN 13:
9783031069666
Series:
Springer Tracts in Advanced Robotics, 149
File:
PDF, 10.06 MB
Your tags:
