Nonprehensile Manipulation for Rapid Object Spinning via Multisensory Learning from Demonstration
Ku Jin Shin,
Soo Jeon
Abstract:Dexterous manipulation concerns the control of a robot hand to manipulate an object in a desired manner. While classical dexterous manipulation strategies are based on stable grasping (or force closure), many human-like manipulation tasks do not maintain grasp stability and often utilize the dynamics of the object rather than the closed form of kinematic relation between the object and the robotic hand. Such manipulation strategies are referred as nonprehensile or dynamic dexterous manipulation in the literatu… Show more
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