dc.contributor
Universitat Politècnica de Catalunya. Institut d'Organització i Control de Sistemes Industrials
dc.contributor
Universitat Politècnica de Catalunya. SIR - Service and Industrial Robotics
dc.contributor.author
Montaño Sarria, Andrés Felipe
dc.contributor.author
Suárez Feijóo, Raúl
dc.identifier
Montaño, A., Suarez, R. Commanding the object orientation using dexterous manipulation. A: Iberian Robotics Conference. "Robot 2015: Second Iberian Robotics Conference". Lisboa: Springer, 2015, p. 69-79.
dc.identifier
978-3-319-27149-1
dc.identifier
https://hdl.handle.net/2117/82723
dc.identifier
10.1007/978-3-319-27149-1_6
dc.description.abstract
This paper presents an approach to change the orientation of a grasped object using dexterous manipulation teleoperated in a very simple way with the commands introduced by an operator using a keyboard. The novelty of the approach lays on a shared control scheme, where the robotic hand uses the tactile and kinematic information to manipulate an unknown object, while the operator decides the direction of rotation of the object without caring about the relation between his commands and the actual hand movements. Experiments were conducted to evaluate the proposed approach with different objects, varying the initial grasp configuration and sequence of actions commanded by the operator.
dc.description.abstract
Postprint (author's final draft)
dc.format
application/pdf
dc.rights
Restricted access - publisher's policy
dc.subject
Àrees temàtiques de la UPC::Informàtica::Robòtica
dc.subject
Mans mecàniques
dc.title
Commanding the object orientation using dexterous manipulation
dc.type
Conference lecture
