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In-Hand Object Localization and Control: Enabling Dexterous Manipulation with Robotic Hands (Book)

Pfanne, Martin (2022) In-Hand Object Localization and Control: Enabling Dexterous Manipulation with Robotic Hands (Book). Springer Tracts in Advanced Robotics, 149. Springer. doi: 10.1007/978-3-031-06967-3. ISBN 978-3-031-06966-6. ISSN 1610-7438.

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Official URL: https://link.springer.com/book/10.1007/978-3-031-06967-3


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.

Item URL in elib:https://elib.dlr.de/193748/
Document Type:Book
Title:In-Hand Object Localization and Control: Enabling Dexterous Manipulation with Robotic Hands (Book)
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Date:31 August 2022
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In ISI Web of Science:No
Series Name:Springer Tracts in Advanced Robotics
Keywords:dexterous manipulation in-hand manipulation perception for grasping and manipulation sensor fusion object pose estimation in-hand localization grasping compliance and impedance control
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Robotics
DLR - Research area:Raumfahrt
DLR - Program:R RO - Robotics
DLR - Research theme (Project):R - Multi-fingered robotic hands [RO]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Autonomy and Teleoperation
Deposited By: Pfanne, Martin
Deposited On:02 Feb 2023 07:54
Last Modified:02 Feb 2023 09:33

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