TY  - BOOK
AB  - We propose a simple but efficient control strategy to manipulate objects of unknown shape, weight, and friction properties
– prerequisites which are necessary for classical offline grasping and manipulation methods. With this strategy, the object
can be manipulated in hand in a large scale,(eg. to rotate the object 360 degree) regardless whether there is rolling or
sliding motion between the fingertips and object. The proposed control strategy employs estimated contact point locations,
which can be obtained from modern tactile sensors with good spatial resolution. The feasibility of the strategy is proven
in simulation experiments employing a physics engine providing exact contact information. However, to motivate the
applicability in real world scenarios, where only coarse and noisy contact information will be available, we also evaluated
the performance of the approach when adding artificial noise.
DA  - 2012
LA  - eng
PY  - 2012
TI  - Rotary Surface Object Manipulation by Multifingered Robot Hand
UR  - https://nbn-resolving.org/urn:nbn:de:0070-pub-24980131
Y2  - 2024-11-22T00:56:02
ER  -