Rotary Surface Object Manipulation by Multifingered Robot Hand

Li Q, Haschke R, Ritter H, Bolder B (2012)
Presented at the 7th German Conference on Robotics, Munich, Germany.

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Conference Paper | Published | English
Abstract
We propose a simple but efficient control strategy to manipulate objects of unknown shape, weight, and friction properties – prerequisites which are necessary for classical offline grasping and manipulation methods. With this strategy, the object can be manipulated in hand in a large scale,(eg. to rotate the object 360 degree) regardless whether there is rolling or sliding motion between the fingertips and object. The proposed control strategy employs estimated contact point locations, which can be obtained from modern tactile sensors with good spatial resolution. The feasibility of the strategy is proven in simulation experiments employing a physics engine providing exact contact information. However, to motivate the applicability in real world scenarios, where only coarse and noisy contact information will be available, we also evaluated the performance of the approach when adding artificial noise.
Publishing Year
Conference
7th German Conference on Robotics
Location
Munich, Germany
Conference Date
2012-05-21
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Li Q, Haschke R, Ritter H, Bolder B. Rotary Surface Object Manipulation by Multifingered Robot Hand. Presented at the 7th German Conference on Robotics, Munich, Germany.
Li, Q., Haschke, R., Ritter, H., & Bolder, B. (2012). Rotary Surface Object Manipulation by Multifingered Robot Hand. Presented at the 7th German Conference on Robotics, Munich, Germany
Li, Q., Haschke, R., Ritter, H., and Bolder, B. (2012).“Rotary Surface Object Manipulation by Multifingered Robot Hand”. Presented at the 7th German Conference on Robotics, Munich, Germany.
Li, Q., et al., 2012. Rotary Surface Object Manipulation by Multifingered Robot Hand. Presented at the 7th German Conference on Robotics, Munich, Germany.
Q. Li, et al., “Rotary Surface Object Manipulation by Multifingered Robot Hand”, Presented at the 7th German Conference on Robotics, Munich, Germany, Proc. ROBOTIK 2012: 2012.
Li, Q., Haschke, R., Ritter, H., Bolder, B.: Rotary Surface Object Manipulation by Multifingered Robot Hand. Presented at the 7th German Conference on Robotics, Munich, Germany (2012).
Li, Qiang, Haschke, Robert, Ritter, Helge, and Bolder, Bram. “Rotary Surface Object Manipulation by Multifingered Robot Hand”. Presented at the 7th German Conference on Robotics, Munich, Germany, Proc. ROBOTIK 2012, 2012.
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