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Dexterous Manipulation Graphs
KTH, School of Electrical Engineering and Computer Science (EECS), Robotics, perception and learning, RPL.ORCID iD: 0000-0002-9171-8768
KTH, School of Electrical Engineering and Computer Science (EECS), Robotics, perception and learning, RPL.ORCID iD: 0000-0003-2078-8854
KTH, School of Electrical Engineering and Computer Science (EECS), Robotics, perception and learning, RPL.ORCID iD: 0000-0003-2965-2953
Hong Kong Univ Sci & Technol, Dept Comp Sci & Engn, Hong Kong, Peoples R China.;Hong Kong Univ Sci & Technol, Inst Adv Study, Hong Kong, Peoples R China..
2018 (English)In: 2018 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS) / [ed] Maciejewski, AA Okamura, A Bicchi, A Stachniss, C Song, DZ Lee, DH Chaumette, F Ding, H Li, JS Wen, J Roberts, J Masamune, K Chong, NY Amato, N Tsagwarakis, N Rocco, P Asfour, T Chung, WK Yasuyoshi, Y Sun, Y Maciekeski, T Althoefer, K AndradeCetto, J Chung, WK Demircan, E Dias, J Fraisse, P Gross, R Harada, H Hasegawa, Y Hayashibe, M Kiguchi, K Kim, K Kroeger, T Li, Y Ma, S Mochiyama, H Monje, CA Rekleitis, I Roberts, R Stulp, F Tsai, CHD Zollo, L, IEEE , 2018, p. 2040-2047Conference paper, Published paper (Refereed)
Abstract [en]

We propose the Dexterous Manipulation Graph as a tool to address in-hand manipulation and reposition an object inside a robot's end-effector. This graph is used to plan a sequence of manipulation primitives so to bring the object to the desired end pose. This sequence of primitives is translated into motions of the robot to move the object held by the end-effector. We use a dual arm robot with parallel grippers to test our method on a real system and show successful planning and execution of in-hand manipulation.

Place, publisher, year, edition, pages
IEEE , 2018. p. 2040-2047
Series
IEEE International Conference on Intelligent Robots and Systems, ISSN 2153-0858
National Category
Computer Vision and Robotics (Autonomous Systems)
Identifiers
URN: urn:nbn:se:kth:diva-246311DOI: 10.1109/IROS.2018.8594303ISI: 000458872702017ISBN: 978-1-5386-8094-0 (print)OAI: oai:DiVA.org:kth-246311DiVA, id: diva2:1297378
Conference
25th IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), OCT 01-05, 2018, Madrid, SPAIN
Note

QC 20190319

Available from: 2019-03-19 Created: 2019-03-19 Last updated: 2019-03-19Bibliographically approved

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Cruciani, SilviaSmith, ChristianKragic, Danica

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