Finger Readjustment Algorithm for Object Manipulation Based on Tactile Information

Abstract : This paper presents a novel algorithm which registers pressure information from tactile sensors installed over the fingers of a robotic hand in order to perform manipulation tasks with objects. This algorithm receives as an input the joint trajectories of the fingers which have to be executed and adapts it to the real contact pressure of each finger in order to guarantee that undesired slippage or contact‐breaking is avoided during the execution of the manipulation task. This algorithm has been applied not only for the manipulation of normal rigid bodies but also for bodies whose centre of mass can be changed during the execution of the manipulation task.
Document type :
Journal articles
Complete list of metadatas

Cited literature [19 references]  Display  Hide  Download

https://hal.sorbonne-universite.fr/hal-01583304
Contributor : Gestionnaire Hal-Upmc <>
Submitted on : Thursday, September 7, 2017 - 11:01:53 AM
Last modification on : Friday, May 24, 2019 - 5:23:11 PM

File

53561.pdf
Publication funded by an institution

Licence


Distributed under a Creative Commons Attribution 4.0 International License

Identifiers

Citation

Juan Antonio Corrales Ramón, Fernando Torres Medina, Véronique Perdereau. Finger Readjustment Algorithm for Object Manipulation Based on Tactile Information. International Journal of Advanced Robotic Systems, InTech, 2013, 10 (1), pp.9. ⟨10.5772/53561⟩. ⟨hal-01583304⟩

Share

Metrics

Record views

72

Files downloads

77