Overview
- Presents state of the art in model-based dexterous manipulation with robotic hands
- Is tested in challenging real-world manipulation scenarios, using one of the most advanced robotic hand systems
- Introduces a novel grasp state estimation method, which combines proprioception, tactile sensing, and computer vision
Part of the book series: Springer Tracts in Advanced Robotics (STAR, volume 149)
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About this book
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.
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Table of contents (6 chapters)
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Bibliographic Information
Book Title: In-Hand Object Localization and Control: Enabling Dexterous Manipulation with Robotic Hands
Authors: Martin Pfanne
Series Title: Springer Tracts in Advanced Robotics
DOI: https://doi.org/10.1007/978-3-031-06967-3
Publisher: Springer Cham
eBook Packages: Intelligent Technologies and Robotics, Intelligent Technologies and Robotics (R0)
Copyright Information: The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer Nature Switzerland AG 2022
Hardcover ISBN: 978-3-031-06966-6Published: 01 September 2022
Softcover ISBN: 978-3-031-06969-7Published: 02 September 2023
eBook ISBN: 978-3-031-06967-3Published: 31 August 2022
Series ISSN: 1610-7438
Series E-ISSN: 1610-742X
Edition Number: 1
Number of Pages: XXXIX, 180
Number of Illustrations: 5 b/w illustrations, 92 illustrations in colour
Topics: Control, Robotics, Mechatronics, Control and Systems Theory, Robotics