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In-hand manipulation using three-stages open loop pivoting
KTH, School of Computer Science and Communication (CSC), Robotics, perception and learning, RPL.ORCID iD: 0000-0002-9171-8768
KTH, School of Computer Science and Communication (CSC), Robotics, perception and learning, RPL.ORCID iD: 0000-0003-2078-8854
2017 (English)Conference paper, Published paper (Refereed)
Abstract [en]

In this paper we propose a method for pivoting an object held by a parallel gripper, without requiring accurate dynamical models or advanced hardware. Our solution uses the motion of the robot arm for generating inertial forces to move the object. It also controls the rotational friction at the pivoting point by commanding a desired distance to the gripper's fingers. This method relies neither on fast and precise tracking systems to obtain the position of the tool, nor on real-time and high-frequency controllable robotic grippers to quickly adjust the finger distance. We demonstrate the efficacy of our method by applying it on a Baxter robot.

Place, publisher, year, edition, pages
2017.
National Category
Robotics
Identifiers
URN: urn:nbn:se:kth:diva-220578DOI: 10.1109/IROS.2017.8202299OAI: oai:DiVA.org:kth-220578DiVA, id: diva2:1169526
Conference
2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Note

QC 20171229

Available from: 2017-12-28 Created: 2017-12-28 Last updated: 2017-12-29Bibliographically approved

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Cruciani, SilviaSmith, Christian

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