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Dexterous manipulation by means of compliant grasps and external contacts
KTH, School of Computer Science and Communication (CSC), Robotics, perception and learning, RPL. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS. KTH.ORCID iD: 0000-0003-3252-715X
Chalmers, Sweden.ORCID iD: 0000-0001-5129-342X
2017 (English)In: 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017, IEEE, 2017, p. 1913-1920, article id 8206010Conference paper, Published paper (Refereed)
Abstract [en]

We propose a method that allows for dexterousmanipulation of an object by exploiting contact with an externalsurface. The technique requires a compliant grasp, enablingthe motion of the object in the robot hand while allowingfor significant contact forces to be present on the externalsurface. We show that under this type of grasp it is possibleto estimate and control the pose of the object with respect tothe surface, leveraging the trade-off between force control andmanipulative dexterity. The method is independent of the objectgeometry, relying only on the assumptions of type of grasp andthe existence of a contact with a known surface. Furthermore,by adapting the estimated grasp compliance, the method canhandle unmodelled effects. The approach is demonstrated andevaluated with experiments on object pose regulation andpivoting against a rigid surface, where a mechanical springprovides the required compliance.

Place, publisher, year, edition, pages
IEEE, 2017. p. 1913-1920, article id 8206010
Series
IEEE International Conference on Intelligent Robots and Systems, ISSN 2153-0858
Keywords [en]
Dexterous manipulation, grasping, dual-arm, bimanual, estimation, contact, kalman filter, adaptive
National Category
Robotics
Identifiers
URN: urn:nbn:se:kth:diva-215234DOI: 10.1109/IROS.2017.8206010Scopus ID: 2-s2.0-85041951703ISBN: 978-1-5386-2681-8 (electronic)OAI: oai:DiVA.org:kth-215234DiVA, id: diva2:1147199
Conference
2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017, Vancouver, Canada, 24 September 2017 through 28 September 2017
Projects
SARAFun
Funder
EU, Horizon 2020, 8012
Note

QC 20171023

Available from: 2017-10-05 Created: 2017-10-05 Last updated: 2018-03-15Bibliographically approved

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Almeida, DiogoKarayiannidis, Yiannis
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Citation style
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