In-hand object localization and control : enabling dexterous manipulation with robotic hands / Martin Pfanne.
2022
T55.3.M35
Linked e-resources
Linked Resource
Online Access
Concurrent users
Unlimited
Authorized users
Authorized users
Document Delivery Supplied
Can lend chapters, not whole ebooks
Details
Title
In-hand object localization and control : enabling dexterous manipulation with robotic hands / Martin Pfanne.
Author
Pfanne, Martin, author.
ISBN
9783031069673 (electronic bk.)
3031069676 (electronic bk.)
9783031069666
3031069668
3031069676 (electronic bk.)
9783031069666
3031069668
Published
Cham : Springer, [2022]
Copyright
©2022
Language
English
Description
1 online resource (xxxix, 180 pages) : illustrations (chiefly color).
Item Number
10.1007/978-3-031-06967-3 doi
Call Number
T55.3.M35
Dewey Decimal Classification
629.8/933
Summary
This book introduces a novel model-based dexterous manipulation framework, which, thanks to its precision and versatility, significantly advances the capabilities of robotic hands compared to the previous state of the art. This is achieved by combining a novel grasp state estimation algorithm, the first to integrate information from tactile sensing, proprioception and vision, with an impedance-based in-hand object controller, which enables leading manipulation capabilities, including finger gaiting. The developed concept is implemented on one of the most advanced robotic manipulators, the DLR humanoid robot David, and evaluated in a range of challenging real-world manipulation scenarios and tasks. This book greatly benefits researchers in the field of robotics that study robotic hands and dexterous manipulation topics, as well as developers and engineers working on industrial automation applications involving grippers and robotic manipulators.
Bibliography, etc. Note
Includes bibliographical references.
Access Note
Access limited to authorized users.
Source of Description
Online resource; title from PDF title page (SpringerLink, viewed September 9, 2022).
Series
Springer tracts in advanced robotics ; v. 149. 1610-742X
Available in Other Form
Print version: 9783031069666
In-hand object localization and control.
In-hand object localization and control.
Linked Resources
Online Access
Record Appears in
Online Resources > Ebooks
All Resources
All Resources
Table of Contents
Introduction
Related Work
Grasp Modeling
Grasp State Estimation
Impedance-based Object Control
Conclusion.
Related Work
Grasp Modeling
Grasp State Estimation
Impedance-based Object Control
Conclusion.