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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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Autor Ramón, Juan Antonio Corrales; Medina, Fernando Torres; Perdereau, Veronique
Publicat  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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no fulltext found International Journal of Advanced Robotic Systems
Autor: 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, [...]
Publicat: 2004
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Documents: International Journal of Advanced Robotic Systems
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Europeana FaviconEuropeana  http://www.europeana.eu/portal/record/2020801/dmglib_handler_docum_32644009.html
PDF FaviconPDF  Finger Readjustment Algorithm for Object Manipulation Based on Tactile Information
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UCAUniv. Cassino  http://webuser.unicas.it/weblarm/larmindex.htm
Administrative information
Time of publication 2013
License information Creative Commons License
This work is licensed under a Creative Commons Attribution-NonCommercial-ShareAlike 3.0 Unported License

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