Model-free in-hand manipulation based on commanded virtual contact points

Montaño Sarria, Andrés Felipe; Suárez Feijóo, Raúl

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Montaño Sarria, Andrés Felipe

Suárez Feijóo, Raúl

Document typeConference report

Defense date2019

PublisherInstitute of Electrical and Electronics Engineers (IEEE)

Rights accessRestricted access - publisher's policy

Abstract

This paper presents a simple strategy to allow therotation of unknown objects using a robotic hand equipped withtactile sensors. The tactile and kinematic information, obtainedwhile that the object is manipulated, is used to determinethe hand configurations that change the object position. Theapproach was successfully tested using an anthropomorphicrobotic hand (Allegro Hand), with the fingertips modified toinclude tactile sensors (WTS-FT). Using three fingers of the hand,every-day objects were successfully rotated without using theirmodel for the determination of the hand movement

CitationMontaño, A.; Suarez, R. Model-free in-hand manipulation based on commanded virtual contact points. A: IEEE International Conference on Emerging Technologies and Factory Automation. "Proceedings 2019 24th IEEE International Conference on Emerging Technologies and Factory Automation". Institute of Electrical and Electronics Engineers (IEEE), 2019, p. 586-592.

URIhttp://hdl.handle.net/2117/168660

ISBN978-1-7281-0302-0

Publisher versionhttps://ieeexplore.ieee.org

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