Carregant...
Carregant...

Vés al contingut (premeu Retorn)

Robust dexterous telemanipulation following object-orientation commands

Autor
Montaño, A.; Suarez, R.
Tipus d'activitat
Article en revista
Revista
Industrial robot-An international journal
Data de publicació
2017-09-01
Volum
44
Número
5
Pàgina inicial
648
Pàgina final
657
DOI
https://doi.org/10.1108/IR-12-2015-0226 Obrir en finestra nova
Repositori
http://hdl.handle.net/2117/108314 Obrir en finestra nova
URL
http://www.emeraldinsight.com/doi/abs/10.1108/IR-12-2015-0226 Obrir en finestra nova
Resum
This paper aims to present a procedure to change the orientation of a grasped object using dexterous manipulation. The manipulation is controlled by teleoperation in a very simple way, with the commands introduced by an operator using a keyboard. Design/methodology/approach - The paper shows a teleoperation scheme, hand kinematics and a manipulation strategy to manipulate different objects using the Schunk Dexterous Hand (SDH2). A state machine is used to model the teleoperation actions and the ...
Citació
Montaño, A., Suarez, R. Robust dexterous telemanipulation following object-orientation commands. "Industrial robot-An international journal", 1 Setembre 2017, vol. 44, núm. 5, p. 648-657.
Paraules clau
Grasping, Manipulation, Tactile sensors, Teleoperation
Grup de recerca
SIR - Service and Industrial Robotics

Participants

Arxius