Finger Readjustment Algorithm for Object Manipulation Based on Tactile Information : Algoritmo di riaggistamento del dito per la manipolazione di oggetti basata sull'informazione tattile, in: International Journal of Advanced Robotic Systems

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Auteur	Ramón, Juan Antonio Corrales; Medina, Fernando Torres; Perdereau, Veronique
Publié	InTech Open Access Publisher, 2013
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Abstract	This paper presents a novel algorithm which registers pressure information from tactile sensors installed over the fingers of a robotic hand in order to perform manipulation tasks with objects. This algorithm receives as an input the joint trajectories of the fingers which have to be executed and adapts it to the real contact pressure of each finger in order to guarantee that undesired slippage or contact‐breaking is avoided during the execution of the manipulation task. This algorithm has been applied not only for the manipulation of normal rigid bodies but also for bodies whose centre of mass can be changed during the execution of the manipulation task.

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		2000 et après

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International Journal of Advanced Robotic Systems
Auteur: Ottaviano, Erika; Ceccarelli, Marco; Husty, Manfred; Yu, Sung-Hoon; Kim, Yong-Tae; Park, Chang-Woo; Hyun, Chang-Ho; Chen, Xiulong; Feng, Weiming; Sun, Xianyang; Gao, Qing; Grigorescu, Sorin M.; Pozna, Claudiu; Liu, Wanli; Zhankui, Wang; Guo, Meng; Fu, Guoyu; Zhang, Jin; Chen, Wenyuan; Peng, Fengchao; Yang, Pei; Chen, Chunlin; Ding, Rui; Yu, Junzhi; Yang, Qinghai; Tan, Min; Polden, Joseph; Pan, [...]
Publié: 2004

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International Journal of Advanced Robotic Systems

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DMG-Lib		https://www.dmg-lib.org/dmglib/handler?docum=32644009
Europeana		http://www.europeana.eu/portal/record/2020801/dmglib_handler_docum_32644009.html
PDF		Finger Readjustment Algorithm for Object Manipulation Based on Tactile Information

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Univ. Cassino

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Time of publication		2013
License information		This work is licensed under a Creative Commons Attribution-NonCommercial-ShareAlike 3.0 Unported License

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Finger Readjustment Algorithm for Object Manipulation Based on Tactile Information : Algoritmo di riaggistamento del dito per la manipolazione di oggetti basata sull'informazione tattile, in: International Journal of Advanced Robotic Systems

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