Interpolation control posture design for in-hand manipulation

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
出版ステータス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
CountryJapan
CityNagoya
Period15/12/1115/12/13

ASJC Scopus subject areas

  • Artificial Intelligence
  • Control and Systems Engineering

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