Dexterous Gripper for In-Hand Manipulation with Embedded Object Localization Algorithm

Rotary object dexterous manipulation in hand: a feedback-based method

We focus on manipulating the object of unknown shape, weight and friction properties in hand task. Unlike the traditional method considering the manipulation as multi times grasp planning, we follow the behavior robotics opinion and propose the reactive manipulation strategy. Firstly, we design the compact closed loop control (local controller) to manipulate object in the neighbor area of its c...

Dexterous Object Manipulation via Integrated Hand-Arm Systems

Grasping and in-hand manipulation: experiments with a reconfigurable gripper

This paper addresses the problem of grasping and manipulating three-dimensional objects with a reconngurable gripper equipped with two parallel plates whose distance can be adjusted by a computer-controlled actuator. The bottom plate is a bare plane, and the top one carries a rectangular grid of actuated pins that can translate in discrete increments under computer control. We propose to use th...

An efficient algorithm for dexterous manipulation planning

This paper addresses the dexterous manipulation planning problem of 3D rigid objects by a multi-fingered hand. We present a general motion planning algorithm capable to automatically generate specific stable grasps allowing a multifingered hand to manipulate rigid objects. It is also capable to address continuous sets of stable grasps, rather than sampling one generally assumed by the previous ...

Benchmarking dexterous dual-arm/hand robotic manipulation

DEXMART is a European large-scale integrating project (IP) funded in the Seventh Framework Programme. The acronym stands for DEXterous and autonomous dual-arm/hand robotic manipulation with sMART sensory-motor skills: A bridge from natural to artificial cognition. The project is focused on artificial systems reproducing smart sensory-motor human skills, which operate in unstructured real-world ...