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Object manipulation with two robotic fingers using tactile information
Karakatsani, Doukeni
Suárez Feijóo, Raúl; Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial
The integration of tactile sensors in dexterous robotic hands contributes greatly to creatingautonomous robots capable of interacting with their environment and manipulating various types ofobjects. The shape of these objects may not be previously known to the robot. In this work werealize the manipulation of unknown objects that are grasped with two fingers of the SCHUNKSDH 2 robotic hand. The fingers manipulate the object changing its orientation with the use of thetactile information provided by the fingers' tactile sensors. The different contact points in thefingertip's surface are modelled by introducing a virtual joint that adds an extra degree of freedomto each finger.
2012-06-14
Àrees temàtiques de la UPC::Enginyeria electrònica i telecomunicacions::Instrumentació i mesura::Sensors i actuadors
Àrees temàtiques de la UPC::Informàtica::Robòtica
Tactile sensors--Industrial applications
Robot hands
Sensors tàctils
Mans mecàniques
Open Access
Research/Master Thesis
Universitat Politècnica de Catalunya
         

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