Interpolation control posture design for in-hand manipulation

Keung Or; Mami Tomura; Alexander Schmitz; Satoshi Funabashi; Shigeki Sugano

doi:10.1109/SII.2015.7404976

Interpolation control posture design for in-hand manipulation

Keung Or, Mami Tomura, Alexander Schmitz, Satoshi Funabashi, Shigeki Sugano

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

6 Citations (Scopus)

Abstract

Object handling and manipulation are important functions of dexterous anthropomorphic hands. As it is difficult to create a manipulation model analytically for performing complex tasks as humans do, a simple way to accomplish generic in-hand manipulation is desirable for robotic hands, especially for robot hands with few sensors. In this paper, we designed standard grasping postures based on the grasping behavior of humans. Interpolation control is used to control the robot hand. The combination of these postures results in versatile object manipulation. This control strategy is evaluated by testing it with the 16 degrees of freedom Allegro Hand grasping different sizes of spheres.

Original language	English
Title of host publication	2015 IEEE/SICE International Symposium on System Integration, SII 2015
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	187-192
Number of pages	6
ISBN (Electronic)	9781467372428
DOIs	https://doi.org/10.1109/SII.2015.7404976
Publication status	Published - 2016 Feb 10
Event	8th Annual IEEE/SICE International Symposium on System Integration, SII 2015 - Nagoya, Japan Duration: 2015 Dec 11 → 2015 Dec 13

Publication series

Name	2015 IEEE/SICE International Symposium on System Integration, SII 2015

Other

Other	8th Annual IEEE/SICE International Symposium on System Integration, SII 2015
Country/Territory	Japan
City	Nagoya
Period	15/12/11 → 15/12/13

ASJC Scopus subject areas

Artificial Intelligence
Control and Systems Engineering

Access to Document

10.1109/SII.2015.7404976

Cite this

Or, K., Tomura, M., Schmitz, A., Funabashi, S., & Sugano, S. (2016). Interpolation control posture design for in-hand manipulation. In 2015 IEEE/SICE International Symposium on System Integration, SII 2015 (pp. 187-192). Article 7404976 (2015 IEEE/SICE International Symposium on System Integration, SII 2015). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/SII.2015.7404976

Interpolation control posture design for in-hand manipulation. / Or, Keung; Tomura, Mami; Schmitz, Alexander et al.
2015 IEEE/SICE International Symposium on System Integration, SII 2015. Institute of Electrical and Electronics Engineers Inc., 2016. p. 187-192 7404976 (2015 IEEE/SICE International Symposium on System Integration, SII 2015).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Or, K, Tomura, M, Schmitz, A, Funabashi, S & Sugano, S 2016, Interpolation control posture design for in-hand manipulation. in 2015 IEEE/SICE International Symposium on System Integration, SII 2015., 7404976, 2015 IEEE/SICE International Symposium on System Integration, SII 2015, Institute of Electrical and Electronics Engineers Inc., pp. 187-192, 8th Annual IEEE/SICE International Symposium on System Integration, SII 2015, Nagoya, Japan, 15/12/11. https://doi.org/10.1109/SII.2015.7404976

Or K, Tomura M, Schmitz A, Funabashi S , Sugano S. Interpolation control posture design for in-hand manipulation. In 2015 IEEE/SICE International Symposium on System Integration, SII 2015. Institute of Electrical and Electronics Engineers Inc. 2016. p. 187-192. 7404976. (2015 IEEE/SICE International Symposium on System Integration, SII 2015). doi: 10.1109/SII.2015.7404976

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abstract = "Object handling and manipulation are important functions of dexterous anthropomorphic hands. As it is difficult to create a manipulation model analytically for performing complex tasks as humans do, a simple way to accomplish generic in-hand manipulation is desirable for robotic hands, especially for robot hands with few sensors. In this paper, we designed standard grasping postures based on the grasping behavior of humans. Interpolation control is used to control the robot hand. The combination of these postures results in versatile object manipulation. This control strategy is evaluated by testing it with the 16 degrees of freedom Allegro Hand grasping different sizes of spheres.",

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AB - Object handling and manipulation are important functions of dexterous anthropomorphic hands. As it is difficult to create a manipulation model analytically for performing complex tasks as humans do, a simple way to accomplish generic in-hand manipulation is desirable for robotic hands, especially for robot hands with few sensors. In this paper, we designed standard grasping postures based on the grasping behavior of humans. Interpolation control is used to control the robot hand. The combination of these postures results in versatile object manipulation. This control strategy is evaluated by testing it with the 16 degrees of freedom Allegro Hand grasping different sizes of spheres.

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Interpolation control posture design for in-hand manipulation

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