Finger readjustment algorithm for object manipulation based on tactile information
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http://hdl.handle.net/10045/25971
| Título: | Finger readjustment algorithm for object manipulation based on tactile information |
|---|---|
| Autor/es: | Corrales Ramón, Juan Antonio | Torres, Fernando | Perdereau, Véronique |
| Grupo/s de investigación o GITE: | Automática, Robótica y Visión Artificial |
| Centro, Departamento o Servicio: | Universidad de Alicante. Departamento de Física, Ingeniería de Sistemas y Teoría de la Señal |
| Palabras clave: | Robotic manipulation | Tactile sensors | Contact breaking | In‐hand object reconfiguration |
| Área/s de conocimiento: | Ingeniería de Sistemas y Automática |
| Fecha de publicación: | 2013 |
| Editor: | InTech |
| Cita bibliográfica: | CORRALES, J.A.; TORRES, F.; PERDEREAU, V. "Finger readjustment algorithm for object manipulation based on tactile information". International Journal of Advanced Robotic Systems. Vol. 10, No. 9 (2013). ISSN 1729-8806 |
| Resumen: | This paper presents a novel algorithm which registers pressure information from tactile sensors installed over the fingers of a robotic hand in order to perform manipulation tasks with objects. This algorithm receives as an input the joint trajectories of the fingers which have to be executed and adapts it to the real contact pressure of each finger in order to guarantee that undesired slippage or contact‐breaking is avoided during the execution of the manipulation task. This algorithm has been applied not only for the manipulation of normal rigid bodies but also for bodies whose centre of mass can be changed during the execution of the manipulation task. |
| Patrocinador/es: | The research leading to the results presented in this paper has been funded by the research projects DPI2008‐02647and DPI2011‐22766 of the Spanish Ministry of Science and Innovation and by the research project GRE10‐16 of the University of Alicante. This research has also received funding from the European Community’s Seventh Framework Programme (FP7/2007‐2013) under Grant Agreement no. 231640 and the research project HANDLE. |
| URI: | http://hdl.handle.net/10045/25971 |
| ISSN: | 1729-8806 (Print) | 1729-8814 (Online) |
| DOI: | 10.5772/53561 |
| Idioma: | eng |
| Tipo: | info:eu-repo/semantics/article |
| Derechos: | © 2013 Corrales et al.; licensee InTech. This is an open access article distributed under the terms of the Creative Commons Attribution License (http://creativecommons.org/licenses/by/3.0), which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. |
| Revisión científica: | si |
| Versión del editor: | http://dx.doi.org/10.5772/53561 |
| Aparece en las colecciones: | INV - AUROVA - Artículos de Revistas Investigaciones financiadas por la UE |
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| Archivo | Descripción | Tamaño | Formato | |
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 Finger_readjustment_algorithm.pdf | 1,4 MB | Adobe PDF | Abrir Vista previa | |
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