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Martin Pfanne
In-Hand Object Localization and Control: Enabling Dexterous Manipulation with Robotic Hands
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1120990In-Hand Object Localization and Control: Enabling Dexterous Manipulation with Robotic Handshttps://www.gandhi.com.mx/in-hand-object-localization-and-control-enabling-dexterous-manipulation-with-robotic-hands/phttps://gandhi.vtexassets.com/arquivos/ids/969190/a3fa182c-ac98-4573-b8ad-6362ff043b40.jpg?v=63833709858463000023382598MXNSpringer International PublishingInStock/Ebooks/<p>This book introduces a novel model-based dexterous manipulation framework, which, thanks to its precision and versatility, significantly advances the capabilities of robotic hands compared to the previous state of the art. This is achieved by combining a novel grasp state estimation algorithm, the first to integrate information from tactile sensing, proprioception and vision, with an impedance-based in-hand object controller, which enables leading manipulation capabilities, including finger gaiting. The developed concept is implemented on one of the most advanced robotic manipulators, the DLR humanoid robot David, and evaluated in a range of challenging real-world manipulation scenarios and tasks. This book greatly benefits researchers in the field of robotics that study robotic hands and dexterous manipulation topics, as well as developers and engineers working on industrial automation applications involving grippers and robotic manipulators.</p>...1112820In-Hand Object Localization and Control: Enabling Dexterous Manipulation with Robotic Hands23382598https://www.gandhi.com.mx/in-hand-object-localization-and-control-enabling-dexterous-manipulation-with-robotic-hands/phttps://gandhi.vtexassets.com/arquivos/ids/969190/a3fa182c-ac98-4573-b8ad-6362ff043b40.jpg?v=638337098584630000InStockMXN99999DIEbook20229783031069673_W3siaWQiOiIyM2Q2YmVhMS03ZjkyLTQ0NzAtODU3OC1jN2MwZmIzMmE5ODIiLCJsaXN0UHJpY2UiOjI2MDIsImRpc2NvdW50IjoyNjAsInNlbGxpbmdQcmljZSI6MjM0MiwiaW5jbHVkZXNUYXgiOnRydWUsInByaWNlVHlwZSI6Ildob2xlc2FsZSIsImN1cnJlbmN5IjoiTVhOIiwiZnJvbSI6IjIwMjUtMDktMDVUMDk6MDA6MDBaIiwidG8iOiIyMDI1LTA5LTMwVDIzOjU5OjU5WiIsInJlZ2lvbiI6Ik1YIiwiaXNQcmVvcmRlciI6ZmFsc2V9LHsiaWQiOiJhZWQ3YWRmZi0xMjc1LTQ1MDYtOTc0MC0xYjM1N2RkODY1OWQiLCJsaXN0UHJpY2UiOjI1OTgsImRpc2NvdW50IjoyNjAsInNlbGxpbmdQcmljZSI6MjMzOCwiaW5jbHVkZXNUYXgiOnRydWUsInByaWNlVHlwZSI6Ildob2xlc2FsZSIsImN1cnJlbmN5IjoiTVhOIiwiZnJvbSI6IjIwMjUtMTAtMDFUMDA6MDA6MDBaIiwicmVnaW9uIjoiTVgiLCJpc1ByZW9yZGVyIjpmYWxzZX1d9783031069673_<p>This book introduces a novel model-based dexterous manipulation framework, which, thanks to its precision and versatility, significantly advances the capabilities of robotic hands compared to the previous state of the art. This is achieved by combining a novel grasp state estimation algorithm, the first to integrate information from tactile sensing, proprioception and vision, with an impedance-based in-hand object controller, which enables leading manipulation capabilities, including finger gaiting. The developed concept is implemented on one of the most advanced robotic manipulators, the DLR humanoid robot David, and evaluated in a range of challenging real-world manipulation scenarios and tasks. This book greatly benefits researchers in the field of robotics that study robotic hands and dexterous manipulation topics, as well as developers and engineers working on industrial automation applications involving grippers and robotic manipulators.</p>...9783031069673_Springer International Publishinglibro_electonico_46147a5f-77b7-3a45-a423-b521a0297841_9783031069673;9783031069673_9783031069673Martin PfanneInglésMéxico2022-08-31T00:00:00+00:00Springer International Publishing