In-Hand Object Localization and Control: Enabling Dexterous Manipulation with Robotic Hands
2022 ed.
Book Details
Format
Hardback or Cased Book
Book Series
Springer Tracts in Advanced Robotics
ISBN-10
3031069668
ISBN-13
9783031069666
Edition
2022 ed.
Publisher
Springer International Publishing AG
Imprint
Springer International Publishing AG
Country of Manufacture
GB
Country of Publication
GB
Publication Date
Sep 1st, 2022
Print length
180 Pages
Weight
512 grams
Dimensions
15.80 x 24.20 x 2.10 cms
Product Classification:
Automatic control engineeringRoboticsArtificial intelligenceArtificial intelligence (AI)
Ksh 19,800.00
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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 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.
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