Interpolation control posture design for in-hand manipulation

Keung Or, Mami Tomura, Alexander Schmitz, Satoshi Funabashi, Shigeki Sugano

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    4 Citations (Scopus)

    Abstract

    Object handling and manipulation are important functions of dexterous anthropomorphic hands. As it is difficult to create a manipulation model analytically for performing complex tasks as humans do, a simple way to accomplish generic in-hand manipulation is desirable for robotic hands, especially for robot hands with few sensors. In this paper, we designed standard grasping postures based on the grasping behavior of humans. Interpolation control is used to control the robot hand. The combination of these postures results in versatile object manipulation. This control strategy is evaluated by testing it with the 16 degrees of freedom Allegro Hand grasping different sizes of spheres.

    Original languageEnglish
    Title of host publication2015 IEEE/SICE International Symposium on System Integration, SII 2015
    PublisherInstitute of Electrical and Electronics Engineers Inc.
    Pages187-192
    Number of pages6
    ISBN (Print)9781467372428
    DOIs
    Publication statusPublished - 2016 Feb 10
    Event8th Annual IEEE/SICE International Symposium on System Integration, SII 2015 - Nagoya, Japan
    Duration: 2015 Dec 112015 Dec 13

    Other

    Other8th Annual IEEE/SICE International Symposium on System Integration, SII 2015
    CountryJapan
    CityNagoya
    Period15/12/1115/12/13

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    ASJC Scopus subject areas

    • Artificial Intelligence
    • Control and Systems Engineering

    Cite this

    Or, K., Tomura, M., Schmitz, A., Funabashi, S., & Sugano, S. (2016). Interpolation control posture design for in-hand manipulation. In 2015 IEEE/SICE International Symposium on System Integration, SII 2015 (pp. 187-192). [7404976] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/SII.2015.7404976