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Robust dexterous telemanipulation following object-orientation commands

Author
Montaño, A.; Suarez, R.
Type of activity
Journal article
Journal
Industrial robot-An international journal
Date of publication
2017-09-01
Volume
44
Number
5
First page
648
Last page
657
DOI
https://doi.org/10.1108/IR-12-2015-0226 Open in new window
Repository
http://hdl.handle.net/2117/108314 Open in new window
URL
http://www.emeraldinsight.com/doi/abs/10.1108/IR-12-2015-0226 Open in new window
Abstract
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 ...
Citation
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.
Keywords
Grasping, Manipulation, Tactile sensors, Teleoperation
Group of research
SIR - Service and Industrial Robotics

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