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Bilateral telemanipulation of unknown objects using remote dexterous in-hand manipulation strategies
dc.contributor.author | Montaño Sarria, Andrés Felipe |
dc.contributor.author | Suárez Feijóo, Raúl |
dc.contributor.author | Aldana López, Carlos Iván |
dc.contributor.author | Nuño, Emmanuel |
dc.contributor.other | Universitat Politècnica de Catalunya. Doctorat en Automàtica, Robòtica i Visió |
dc.contributor.other | Universitat Politècnica de Catalunya. Institut d'Organització i Control de Sistemes Industrials |
dc.date.accessioned | 2021-02-04T10:52:09Z |
dc.date.available | 2021-02-04T10:52:09Z |
dc.date.issued | 2020 |
dc.identifier.citation | Montaño, A. [et al.]. Bilateral telemanipulation of unknown objects using remote dexterous in-hand manipulation strategies. A: World Congress of the International Federation of Automatic Control. "IFAC 2020 - 21th World Congress of the International Federation of Automatic Control: Berlin, Germany". 2020, p. 1051/1-1051/8. |
dc.identifier.other | https://www.rayseven.com//r7/runtime/vdi/ifac2020/files/finalpapers/1645/attachments/1051.pdf?1593804446 |
dc.identifier.uri | http://hdl.handle.net/2117/336885 |
dc.description.abstract | This paper presents an approach to perform bilateral in-hand (dexterous) telemanipulation of unknown objects. The proposed approach addresses three of the main problems in telemanipulation: \eno{kinematic issues due to the physical differences between the robotic and the human hands;} obtaining coherent haptic feedback to provide information about the manipulation at any time; and time-delays that can affect the stability of the overall closed-loop system. The novelty of the approach lays on the shared control scheme, where the robotic hand uses the tactile and \eno{the} kinematic information to manipulate an unknown object while the operator commands \eno{a} desired orientation of the object without caring about the relation between her/his commands and the actual hand movements. The viability of the proposed approach has been tested through transatlantic telemanipulation experiments between Mexico and Spain. |
dc.language.iso | eng |
dc.rights | Attribution-NonCommercial-NoDerivs 3.0 Spain |
dc.rights.uri | http://creativecommons.org/licenses/by-nc-nd/3.0/es/ |
dc.subject | Àrees temàtiques de la UPC::Informàtica::Robòtica |
dc.subject.lcsh | Tactile sensors |
dc.subject.lcsh | Robot hands |
dc.subject.other | Robotics |
dc.subject.other | Telemanipulation |
dc.subject.other | Robot control |
dc.subject.other | Tactile sensors |
dc.subject.other | Grasping |
dc.subject.other | Time-delay. |
dc.title | Bilateral telemanipulation of unknown objects using remote dexterous in-hand manipulation strategies |
dc.type | Conference report |
dc.subject.lemac | Robots -- Sistemes de control |
dc.subject.lemac | Sensors tàctils |
dc.subject.lemac | Mans mecàniques |
dc.contributor.group | Universitat Politècnica de Catalunya. SIR - Service and Industrial Robotics |
dc.rights.access | Open Access |
local.identifier.drac | 29239247 |
dc.description.version | Postprint (author's final draft) |
dc.relation.projectid | info:eu-repo/grantAgreement/MINECO/1PE/DPI2016-80077-R |
local.citation.author | Montaño, A.; Suarez, R.; Aldana López, Carlos Iván; Nuño, E. |
local.citation.contributor | World Congress of the International Federation of Automatic Control |
local.citation.publicationName | IFAC 2020 - 21th World Congress of the International Federation of Automatic Control: Berlin, Germany |
local.citation.startingPage | 1051/1 |
local.citation.endingPage | 1051/8 |