Abstract:
This paper introduces a novel strategy to enhance the dexterous in-hand manipulation capabilities of robotic hands, focusing on reorienting unknown objects around any spe...Show MoreMetadata
Abstract:
This paper introduces a novel strategy to enhance the dexterous in-hand manipulation capabilities of robotic hands, focusing on reorienting unknown objects around any specified axis. The proposed method leverages tactile sensing and sensor-to-motor mapping to achieve precise and adaptive manipulation without prior object knowledge. The strategy employs circular finger movements to maintain stable and secure grasps, ensuring even pressure distribution. Preliminary experiments conducted with the Allegro robotic hand validate the efficacy of the approach across various orientations, demonstrating its potential for practical applications.
Published in: 2024 IEEE 29th International Conference on Emerging Technologies and Factory Automation (ETFA)
Date of Conference: 10-13 September 2024
Date Added to IEEE Xplore: 16 October 2024
ISBN Information: