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Robot 2015: Second Iberian Robotics Conference pp 69–79Cite as

Commanding the Object Orientation Using Dexterous Manipulation

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Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 418))

Abstract

This paper presents an approach to change the orientation of a grasped object using dexterous manipulation teleoperated in a very simple way with the commands introduced by an operator using a keyboard. The novelty of the approach lays on a shared control scheme, where the robotic hand uses the tactile and kinematic information to manipulate an unknown object, while the operator decides the direction of rotation of the object without caring about the relation between his commands and the actual hand movements. Experiments were conducted to evaluate the proposed approach with different objects, varying the initial grasp configuration and sequence of actions commanded by the operator.

R. Suárez—Work partially supported by the Spanish Government through the projects DPI2011-22471, DPI2013-40882-P and DPI2014-57757-R.

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Author information

Authors and Affiliations

  1. Institute of Industrial and Control Engineering, Universitat Politècnica de Catalunya, Barcelona, Spain

    Andrés Montaño & Raúl Suárez

Authors
  1. Andrés Montaño
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  2. Raúl Suárez
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Corresponding author

Correspondence to Andrés Montaño .

Editor information

Editors and Affiliations

  1. Info Syst Dept;Campus de Azurém, University of Minho, Guimarães, Portugal

    Luís Paulo Reis

  2. Electrical and Computer Engineering Dept, University of Porto, Porto, Portugal

    António Paulo Moreira

  3. Instituto Superior Tecnico - Torre Norte, University of Lisboa, Lisboa, Portugal

    Pedro U. Lima

  4. Engineering Dept., E. Ada Byron, Univ of Zaragoza, Computer & Systems, Zaragoza, Spain

    Luis Montano

  5. Automatic Control and Systems Eng. Dept., University of Malaga, Superior Technical, Málaga, Spain

    Victor Muñoz-Martinez

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Montaño, A., Suárez, R. (2016). Commanding the Object Orientation Using Dexterous Manipulation. In: Reis, L., Moreira, A., Lima, P., Montano, L., Muñoz-Martinez, V. (eds) Robot 2015: Second Iberian Robotics Conference. Advances in Intelligent Systems and Computing, vol 418. Springer, Cham. https://doi.org/10.1007/978-3-319-27149-1_6

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  • DOI: https://doi.org/10.1007/978-3-319-27149-1_6

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-27148-4

  • Online ISBN: 978-3-319-27149-1

  • eBook Packages: Computer ScienceComputer Science (R0)

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