Rights accessRestricted access - publisher's policy
This paper presents an approach to change the orientation of a grasped object using dexterous manipulation teleoperated in a very simple way with the commands introduced by an operator using a keyboard. The novelty of the approach lays on a shared control scheme, where the robotic hand uses the tactile and kinematic information to manipulate an unknown object, while the operator decides the direction of rotation of the object without caring about the relation between his commands and the actual hand movements. Experiments were conducted to evaluate the proposed approach with different objects, varying the initial grasp configuration and sequence of actions commanded by the operator.
CitationMontaño, A., Suarez, R. Commanding the object orientation using dexterous manipulation. A: Iberian Robotics Conference. "Robot 2015: Second Iberian Robotics Conference". Lisboa: Springer, 2015, p. 69-79.
All rights reserved. This work is protected by the corresponding intellectual and industrial property rights. Without prejudice to any existing legal exemptions, reproduction, distribution, public communication or transformation of this work are prohibited without permission of the copyright holder. If you wish to make any use of the work not provided for in the law, please contact: email@example.com