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Title:
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Unknown object manipulation based on tactile information
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Author:
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Montaño Sarria, Andrés Felipe; Suárez Feijóo, Raúl
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Other authors:
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Universitat Politècnica de Catalunya. Institut d'Organització i Control de Sistemes Industrials; Universitat Politècnica de Catalunya. SIR - Service and Industrial Robotics |
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Abstract:
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This work proposes an approach to manipulate unknown objects based on tactile information. The manipulation can have three goals: the optimization of the hand configuration, the optimization of the grasp quality and the optimization of the object configuration. Three different motion
strategies are introduced in order to move the fingers trying to deal with each of the three goals. The strategies can be applied independently or combined in a sequential way. The feasibility of the motion strategies was proven in real experimentation using the Schunk Dexterous Hand SDH2. |
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Subject(s):
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-Àrees temàtiques de la UPC::Informàtica::Robòtica
-Robots -- Motion
-Robot hands
-Robots -- Moviment
-Mans mecàniques |
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Rights:
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Document type:
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Article - Submitted version
Conference Object |
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Published by:
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Institute of Electrical and Electronics Engineers (IEEE)
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Share:
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