A dexterous manipulation system with error detection and recovery by a multi-fingered robotic hand

A dexterous manipulation system with error detection and recovery by a multi-fingered robotic hand
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灵巧的操纵系统，通过多指机械手进行错误检测和恢复

DOI：
10.1109/iros.1999.813040
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发表时间：
1999
期刊：
Proceedings 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human and Environment Friendly Robots with High Intelligence and Emotional Quotients (Cat. No.99CH36289)
影响因子：
--
通讯作者：
K. Honda
K. Honda
中科院分区：
--
文献类型：
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作者：
T. Matsuoka;T. Hasegawa;K. Honda

文献摘要

被引文献

相似文献

描述了一种灵巧、鲁棒的多指手操作系统。该系统由一个实时的姿态估计的手操作的对象，精确的操作，使用指尖滚动接触，运动原语的机械装配，和错误恢复策略的基础上的任务观察功能。给出了系统结构和实验结果。
Describes a dexterous and robust manipulation system with a multi-fingered hand. The system is composed of a real-time pose estimation of an object manipulated by the hand, a precise manipulation using fingertip with rolling contact, motion primitives for mechanical assembly, and error-recovery strategies based on the task observation function. The system architecture and experimental results are shown.