SYSTEM AND METHOD FOR PROVIDING IN HAND ROBOTICS DEXTEROUS MANIPULATION OF OBJECTS

SYSTEM AND METHOD FOR PROVIDING IN HAND ROBOTICS DEXTEROUS MANIPULATION OF OBJECTS

A system and method for providing in hand robotics dexterous manipulation of an object that include determining a geometry of an object, a position of the object, and a placement of at least one robotic finger of a robot upon the object. The system and method also include computing a direction of ro...

Ausführliche Beschreibung

Gespeichert in:
Bibliographische Detailangaben
Hauptverfasser: AGUILERA, Sergio, SOLTANI ZARRIN, Rana
Format: Patent
Sprache:eng
Schlagworte:
CHAMBERS PROVIDED WITH MANIPULATION DEVICES
HAND TOOLS
MANIPULATORS
PERFORMING OPERATIONS
PORTABLE POWER-DRIVEN TOOLS
TRANSPORTING
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Beschreibung
Zusammenfassung:A system and method for providing in hand robotics dexterous manipulation of an object that include determining a geometry of an object, a position of the object, and a placement of at least one robotic finger of a robot upon the object. The system and method also include computing a direction of rolling or rotation of the object by the at least one robotic finger. The system and method additionally include updating a position of the object that is manipulated by the robot. The system and method further include updating contact points of the at least one robotic finger with respect to contacting the object in a manner that ensures that a viable grasp is enforced to have force closure to retain the object.