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In-hand object localization and controlenabling dexterous manipulation with robotic hands /

Record Type:	Electronic resources : Monograph/item
Title/Author:	In-hand object localization and controlby Martin Pfanne.
Reminder of title:	enabling dexterous manipulation with robotic hands /
Author:	Pfanne, Martin.
Published:	Cham :Springer International Publishing :2022.
Description:	xxxix, 180 p. :ill. (chiefly color), digital ;24 cm.
Contained By:	Springer Nature eBook
Subject:	Manipulators (Mechanism)
Online resource:	https://doi.org/10.1007/978-3-031-06967-3
ISBN:	9783031069673$q(electronic bk.)

In-hand object localization and controlenabling dexterous manipulation with robotic hands /
Pfanne, Martin.

In-hand object localization and controlenabling dexterous manipulation with robotic hands /[electronic resource] :by Martin Pfanne. - Cham :Springer International Publishing :2022. - xxxix, 180 p. :ill. (chiefly color), digital ;24 cm. - Springer tracts in advanced robotics,v. 1491610-742X ;. - Springer tracts in advanced robotics ;v. 13.

Introduction -- Related Work -- Grasp Modeling -- Grasp State Estimation -- Impedance-based Object Control -- Conclusion.

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.

ISBN: 9783031069673$q(electronic bk.)

Standard No.: 10.1007/978-3-031-06967-3doiSubjects--Topical Terms:

238424
Manipulators (Mechanism)

LC Class. No.: T55.3.M35 / P43 2022

Dewey Class. No.: 629.8933

In-hand object localization and controlenabling dexterous manipulation with robotic hands /
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