Toward a task space framework for gesture commanded telemanipulation

Lii, Neal Y.; Chen, Zhaopeng; Roa, Máximo A.; Maier, Annika; Pleintinger, Benedikt; Borst, Christoph

doi:10.1109/roman.2012.6343869

Cited by 23 publications

(15 citation statements)

References 11 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…This in turn hinders the performance of executing object manipulation tasks further down the task chain. The reduced grasp and manipulation performance while encountering object location errors have been observed in our previous work [2].…”

Section: Introductionsupporting

confidence: 69%

A Compliant Multi-finger Grasp Approach Control Strategy Based on the Virtual Spring Framework

Chen

Ott

Lii

2015

Intelligent Robotics and Applications

Self Cite

View full text Add to dashboard Cite

This paper presents an adaptive compliant multi-finger grasp approach control strategy based on based on a new interpretation of the virtual spatial spring framework, to improve the grasp performance for target objects with position errors. An n-finger virtual spatial spring frame is proposed to achieve the adaptive compliant grasp control. Twofinger grasp control based on a single virtual spring is tackled, and then extended to multi-finger grasp control. Virtual springs for self-collision avoidance among digits are constructed to form the complete adaptive compliant grasp control law. With the virtual-spring based adaptive compliant grasp approach control strategy, the first robot finger to experience unexpected impact remains in contact with the object, while the rest of the fingers are continuously, adaptively driven toward readjusted grasping positions by the virtual springs without the need for on-line replanning. Experimental results demonstrate effectiveness of the virtual-spring based grasp controller, and significantly larger position errors of the target object can be accommodated with the proposed adaptive compliant grasp control strategy.

show abstract

Section: Introductionsupporting

confidence: 69%

A Compliant Multi-finger Grasp Approach Control Strategy Based on the Virtual Spring Framework

Chen

Ott

Lii

2015

Intelligent Robotics and Applications

Self Cite

View full text Add to dashboard Cite

show abstract

“…In our previous work on in-hand grasping and manipulation, we observed a reduction in performance with the presence of object position errors [2]. In recent years, contact detection, object estimation.…”

Section: Introductionmentioning

confidence: 86%

An adaptive compliant multi-finger approach-to-grasp strategy for objects with position uncertainties

Chen

Wimböck

Roa

et al. 2015

2015 IEEE International Conference on Robotics and Automation (ICRA)

Self Cite

View full text Add to dashboard Cite

This paper presents an adaptive and compliant approach-to-grasp strategy for multi-finger robotic hands, to improve the performance of autonomous grasping when encountering object position uncertainties. With the proposed approach-to-grasp strategy, the first robot finger to experience unexpected impact would pause its movement in a compliant manner, and remains in contact with the object to minimize the unplanned motion of the target object. At the same time, the remainder of the fingers continuously, adaptively move toward re-adjusted grasping positions with respect to the first finger in contact with the object, without the need for on-line replanning or re-grasping. An adaptive grasp control strategy based on spatial virtual spring framework is proposed to achieve local (e.g. not resorting to the robotic arm) in-hand adjustments of the fingers not yet in contact. As such, these fingers can be adaptively driven to the adjusted desired position to accomplish the grasp. Experimental results demonstrate that significantly larger position errors with respect to the hand workspace can be accommodated with the proposed adaptive compliant grasp control strategy. As much as 391% increase in position error area coverage has been achieved. Finally, beyond the quantitative analysis, additional observations during the extensive experiment trials are discussed qualitatively, to help examine several open issues, and further understand the approach-to-grasp phases of the robot hand tasks.

show abstract

“…Using fingertip mapping [14] or pose mapping [15] it is possible to track only certain important points on the hand and to try to reproduce their motion on the robotic hand. These solutions can be implemented when the number of tracked reference points is equal or bigger on the master side than on the slave side.…”

Section: A Forward Mappingmentioning

confidence: 99%

Object-based bilateral telemanipulation between dissimilar kinematic structures

Salvietti

Meli

Gioioso

et al. 2013

2013 IEEE/RSJ International Conference on Intelligent Robots and Systems

View full text Add to dashboard Cite

Abstract-This paper presents a bilateral telemanipulation framework where the master and slave sub-systems have different kinematic structures. A virtual object is defined on the master and slave sides and used to capture the human hand motion and to compute the related force feedback. The force feedback is determined imposing that the same wrench acts on the master and slave virtual objects. An abstraction from the sub-system structures is obtained focusing on the effects produced on the manipulated object. The proposed approach has been tested with an experimental setup consisting of two haptic interfaces able to capture index and thumb motions on the master side and a DLR-HIT Hand II as slave sub-system.

show abstract

Toward a task space framework for gesture commanded telemanipulation

Cited by 23 publications

References 11 publications

A Compliant Multi-finger Grasp Approach Control Strategy Based on the Virtual Spring Framework

A Compliant Multi-finger Grasp Approach Control Strategy Based on the Virtual Spring Framework

An adaptive compliant multi-finger approach-to-grasp strategy for objects with position uncertainties

Object-based bilateral telemanipulation between dissimilar kinematic structures

Contact Info

Product

Resources

About