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Control Program for Dexterous Manipulation by Robotic Hand

물체의 안정한 조작을 위한 동작의 계획과 운동의 실현

  • 황창순 (한국과학기술원 지능로봇연구센터)
  • Published : 2005.04.01

Abstract

This paper presents a motion planning and control method for the dexterous manipulation with a robotic hand. For a given trajectory of an object, a simulation system calculates the necessary joint displacements and contact forces at the fingertip surfaces. These joint displacements and contact forces are the reference inputs to the control loops of the robotic fingers. A task is decomposed into a set of primitive motions, and each primitive motion is executed using the planned output of the simulation system as the reference. Force sensors and dynamic tactile sensors are used to adapt to errors and uncertainties encountered during manipulation. Several experimental results are presented.

Keywords

Robotic Hand;Dexterous Manipulation;Primitive Motions;Control Program;Active Sensing

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