Abstract
Multi-fingered robotic end-effectors have not yet made significant inroads into practical applications, partly due to the complexity of dextrous manipulation tasks. This paper develops an approach for assembling tasks from relatively simple phases which are punctuated by discrete events, signaling the transfer of operation to the next phase in a sequence. We examine the constraints active during phases, and develop methods for conducting smooth transitions between phases. Techniques for robust event detection in the presence of disturbances are also described. Experimental data is shown in support of the phase transition and event detection methods.
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© 1997 Springer-Verlag London Limited
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Hyde, J.M., Tremblay, M.R., Cutkosky, M.R. (1997). An object-oriented framework for event-driven dextrous manipulation. In: Khatib, O., Salisbury, J.K. (eds) Experimental Robotics IV. Lecture Notes in Control and Information Sciences, vol 223. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0035196
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DOI: https://doi.org/10.1007/BFb0035196
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