Chapter 14: Towards dexterous in-hand manipulation of unknown objects
A visuotactile feedback-based method
Qiang Li; Robert Haschke; Helge Ritter Center for Cognitive Interaction Technology (CITEC), Bielefeld University, Bielefeld, Germany
Abstract
In order to realize in-hand manipulation of unknown objects, we propose a dexterous manipulation framework based on visual and tactile feedback. Employing reactive controllers, this framework firstly allows to realize small-scale object manipulations while maintaining a stable grasp in the presence of unpredictable contact rolling or sliding. Secondly, we propose a surface exploration controller, which can reposition individual fingers on the object surface in order to find a new contact point and improve ...
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