TY - GEN
T1 - Interpolation control posture design for in-hand manipulation
AU - Or, Keung
AU - Tomura, Mami
AU - Schmitz, Alexander
AU - Funabashi, Satoshi
AU - Sugano, Shigeki
N1 - Publisher Copyright:
© 2015 IEEE.
PY - 2016/2/10
Y1 - 2016/2/10
N2 - 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.
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.
UR - http://www.scopus.com/inward/record.url?scp=84963734127&partnerID=8YFLogxK
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U2 - 10.1109/SII.2015.7404976
DO - 10.1109/SII.2015.7404976
M3 - Conference contribution
AN - SCOPUS:84963734127
T3 - 2015 IEEE/SICE International Symposium on System Integration, SII 2015
SP - 187
EP - 192
BT - 2015 IEEE/SICE International Symposium on System Integration, SII 2015
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 8th Annual IEEE/SICE International Symposium on System Integration, SII 2015
Y2 - 11 December 2015 through 13 December 2015
ER -