| Título: | Finger readjustment algorithm for object manipulation based on tactile information |
| Autores: |
Corrales Ramón, Juan Antonio Torres Medina, Fernando Perdereau, Véronique |
| Fecha: |
2013-01-16 2013-01-16 2013 |
| Publicador: | RUA Docencia |
| Fuente: |
 |
| Tipo: | info:eu-repo/semantics/article |
| Tema: |
Robotic manipulation Tactile sensors Contact breaking In‐hand object reconfiguration Ingeniería de Sistemas y Automática |
| Descripción: |
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. 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. |
| Idioma: | Inglés |
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