Simulation Results for Manipulation of Unknown Objects in Hand

Li Q, Haschke R, Ritter H, Bolder B (2011)
In: Proc. ROBIO. .

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Conference Paper | Published | English
Abstract
In this paper, the authors proposed a novel reactive strategy to solve a unknown object local manipulation problem with an multifingered robot hand. In this method, the micro manipulation assumption is proposed and the object can be manipulated within the robot hand workspace without the active and explicit controlling about the rolling and sliding of the fingertips on the object. A 6 D.O.F reactive controller based on the hybrid of the contact force and the contact position feedback is developed. A three layer hierarchical control structure is employed to implement this manipulation strategy. The simulation experiment is run based on the physics engine-Vortex, to show the feasibility of this method.
Publishing Year
Conference
IEEE Int. Conf. on Robotics and Biomimetics (ROBIO)
Location
Phuket, Thailand
Conference Date
2011-12-7
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Cite this

Li Q, Haschke R, Ritter H, Bolder B. Simulation Results for Manipulation of Unknown Objects in Hand. In: Proc. ROBIO. 2011.
Li, Q., Haschke, R., Ritter, H., & Bolder, B. (2011). Simulation Results for Manipulation of Unknown Objects in Hand. Proc. ROBIO.
Li, Q., Haschke, R., Ritter, H., and Bolder, B. (2011). “Simulation Results for Manipulation of Unknown Objects in Hand” in Proc. ROBIO.
Li, Q., et al., 2011. Simulation Results for Manipulation of Unknown Objects in Hand. In Proc. ROBIO.
Q. Li, et al., “Simulation Results for Manipulation of Unknown Objects in Hand”, Proc. ROBIO, 2011.
Li, Q., Haschke, R., Ritter, H., Bolder, B.: Simulation Results for Manipulation of Unknown Objects in Hand. Proc. ROBIO. (2011).
Li, Qiang, Haschke, Robert, Ritter, Helge, and Bolder, Bram. “Simulation Results for Manipulation of Unknown Objects in Hand”. Proc. ROBIO. 2011.
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2011-10-12 12:24:19

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