Abstract
This paper presents an approach to change the orientation of a grasped object using dexterous manipulation teleoperated in a very simple way with the commands introduced by an operator using a keyboard. The novelty of the approach lays on a shared control scheme, where the robotic hand uses the tactile and kinematic information to manipulate an unknown object, while the operator decides the direction of rotation of the object without caring about the relation between his commands and the actual hand movements. Experiments were conducted to evaluate the proposed approach with different objects, varying the initial grasp configuration and sequence of actions commanded by the operator.
R. Suárez—Work partially supported by the Spanish Government through the projects DPI2011-22471, DPI2013-40882-P and DPI2014-57757-R.
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Montaño, A., Suárez, R. (2016). Commanding the Object Orientation Using Dexterous Manipulation. In: Reis, L., Moreira, A., Lima, P., Montano, L., Muñoz-Martinez, V. (eds) Robot 2015: Second Iberian Robotics Conference. Advances in Intelligent Systems and Computing, vol 418. Springer, Cham. https://doi.org/10.1007/978-3-319-27149-1_6
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