Interpolation control posture design for in-hand manipulation

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

    研究成果: Conference contribution

    4 引用 (Scopus)

    抜粋

    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.

    元の言語English
    ホスト出版物のタイトル2015 IEEE/SICE International Symposium on System Integration, SII 2015
    出版者Institute of Electrical and Electronics Engineers Inc.
    ページ187-192
    ページ数6
    ISBN(印刷物)9781467372428
    DOI
    出版物ステータスPublished - 2016 2 10
    イベント8th Annual IEEE/SICE International Symposium on System Integration, SII 2015 - Nagoya, Japan
    継続期間: 2015 12 112015 12 13

    Other

    Other8th Annual IEEE/SICE International Symposium on System Integration, SII 2015
    Japan
    Nagoya
    期間15/12/1115/12/13

      フィンガープリント

    ASJC Scopus subject areas

    • Artificial Intelligence
    • Control and Systems Engineering

    これを引用

    Or, K., Tomura, M., Schmitz, A., Funabashi, S., & Sugano, S. (2016). Interpolation control posture design for in-hand manipulation. : 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