Recent developments in dexterous robotic manipulation technologies allowed for the design of very compact, yet capable, multi-fingered robotic hands. These can be designed to emulate the human touch and feel, reducing the aforementioned need for human expertise in highly detailed tasks. The presented work focused on the application of two simulation platforms Gazebo and MuJoCo - to a use-case of a Schunk Five Finger Robotic Hand, coupled to the UR5 collaborative manipulator. This allowed to assess the relative appropriateness of each of these platforms. ; The authors acknowledge the support of R&D Unit SYSTEC Base (UIDB/00147/2020) and Programmatic (UIDP/00147/2020) and the ARISE Associated Laboratory (LA/P/0112/2020), as well as the support of projects: Digitalizac¸ ˜ao da Arte Humana (Cibertoque), with reference POCI-01-0247-FEDER-072627, co-funded by FEDER, through COMPETE 2020 and Next-Gen Quality Control IoRT System with reference POCI-01-0247-FEDER-072616, co-funded by FEDER, through COMPETE 2020. ; info:eu-repo/semantics/publishedVersion


    Access

    Download


    Export, share and cite



    Title :

    Modeling and realistic simulation of a dexterous robotic hand: SVH hand use-case


    Contributors:

    Publication date :

    2023-01-01



    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Classification :

    DDC:    629




    Three-Finger Multisensory Hand for Dexterous Space Robotic Tasks

    Y. Murase / S. Komada / T. Uchiyama et al. | NTIS | 1994


    Dexterous underwater robot hand: HEU Hand II

    Meng, Qingxin / Hua Wang / Ping Li et al. | Tema Archive | 2006


    A three-finger multisensory hand for dexterous space robotic tasks

    Murase, Yuichi / Komada, Satoru / Uchiyama, Takashi et al. | NTRS | 1994



    Robot Forearm and Dexterous Hand

    Lovchik, Christopher S. | NTRS | 2005