Interpolation control posture design for in-hand manipulation

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

doi:10.1109/SII.2015.7404976

Interpolation control posture design for in-hand manipulation

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

研究成果: Conference contribution

6 被引用数 (Scopus)

抄録

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.

本文言語	English
ホスト出版物のタイトル	2015 IEEE/SICE International Symposium on System Integration, SII 2015
出版社	Institute of Electrical and Electronics Engineers Inc.
ページ	187-192
ページ数	6
ISBN（印刷版）	9781467372428
DOI	https://doi.org/10.1109/SII.2015.7404976
出版ステータス	Published - 2016 2月 10
イベント	8th Annual IEEE/SICE International Symposium on System Integration, SII 2015 - Nagoya, Japan 継続期間: 2015 12月 11 → 2015 12月 13

Other

Other	8th Annual IEEE/SICE International Symposium on System Integration, SII 2015
国/地域	Japan
City	Nagoya
Period	15/12/11 → 15/12/13

ASJC Scopus subject areas

人工知能
制御およびシステム工学

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10.1109/SII.2015.7404976

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引用スタイル

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., 7404976, Institute of Electrical and Electronics Engineers Inc., pp. 187-192, 8th Annual IEEE/SICE International Symposium on System Integration, SII 2015, Nagoya, Japan, 15/12/11. https://doi.org/10.1109/SII.2015.7404976

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title = "Interpolation control posture design for in-hand manipulation",

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.",

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N2 - 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.

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BT - 2015 IEEE/SICE International Symposium on System Integration, SII 2015

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Interpolation control posture design for in-hand manipulation

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