This paper aims to present a procedure to change the orientation of a grasped object using dexterous manipulation. The manipulation is controlled by teleoperation in a very simple way, with the commands introduced by an operator using a keyboard. Design/methodology/approach - The paper shows a teleoperation scheme, hand kinematics and a manipulation strategy to manipulate different objects using the Schunk Dexterous Hand (SDH2). A state machine is used to model the teleoperation actions and the system states. A virtual link is used to include the contact point on the hand kinematics of the SDH2. Findings - Experiments were conducted to evaluate the proposed approach with different objects, varying the initial grasp configuration and the sequence of actions commanded by the operator. Originality/value - The proposed approach uses a shared telemanipulation schema to perform dexterous manipulation; in this schema, the operator sends high-level commands and a local system uses this information, jointly with tactile measurements and the current status of the system, to generate proper setpoints for the low-level control of the fingers, which may be a commercial close one. The main contribution of this work is the mentioned local system, simple enough for practical applications and robust enough to avoid object falls. ; Postprint (author's final draft)


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    Titel :

    Robust dexterous telemanipulation following object-orientation commands



    Erscheinungsdatum :

    01.09.2017



    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Klassifikation :

    DDC:    629






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