Exploring Dexterous Manipulation Workspaces with the iHY Hand

Exploring Dexterous Manipulation Workspaces with the iHY Hand

In the past several years, standards in experimental robotics have risen significantly. Robots are increasingly expected to be mobile, self-contained, and robust to the accidental collisions that inevitably accompany work in the real world. These requirements have placed particularly harsh constraints on robot hands. Fingers are also among the smallest and most fragile articulated links in a ro...

A Dexterous Manipulation Example with the New RoBioSS Hand

This paper presents a methodology to perform a fine manipulation task with an anthropomorphic hand. We focus here on a three-finger precision grasp. The robotic hand used is the latest four finger fully actuated hand developed by the RoBioSS team of PPRIME institute. Different steps ranging from the generation of the contact points of the hand with the object to the experimental realization of ...

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 ...

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