Title :
A dexterous manipulation system with error detection and recovery by a multi-fingered robotic hand
Author :
Matsuoka, Takeshi ; Hasegawa, Tsutomu ; Honda, Kyuhei
Author_Institution :
Dept. of Electr. Eng., Fukuoka Univ., Japan
Abstract :
Describes a dexterous and robust manipulation system with a multi-fingered hand. The system is composed of a real-time pose estimation of an object manipulated by the hand, a precise manipulation using fingertip with rolling contact, motion primitives for mechanical assembly, and error-recovery strategies based on the task observation function. The system architecture and experimental results are shown
Keywords :
assembling; dexterous manipulators; error detection; force sensors; stereo image processing; dexterous manipulation system; error detection; mechanical assembly; motion primitives; multi-fingered robotic hand; precise manipulation; real-time pose estimation; rolling contact; Cameras; Error correction; Fingers; Force sensors; Hardware; Real time systems; Robot kinematics; Robustness; Servomechanisms; Velocity control;
Conference_Titel :
Intelligent Robots and Systems, 1999. IROS '99. Proceedings. 1999 IEEE/RSJ International Conference on
Conference_Location :
Kyongju
Print_ISBN :
0-7803-5184-3
DOI :
10.1109/IROS.1999.813040
