What is it about?
We have proposed a pinching controller for achieving dynamically a stable grasp by rolling fingertips while regulating relative finger orientation for better manipulability of the in hand object. We utilize only finger proprioceptive measurements to achieve the controller objectives and show its effectiveness with simulations and experiments.
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Why is it important?
Stable grasping under uncertainties of the robotic hand and oject is still an open problem.
Perspectives
This proposed controller can be viewed as step to achieving human dexterity in grasping unknown objects.
Zoe Doulgeri
Aristotle University of Thessaloniki
Read the Original
This page is a summary of: Stable pinching by controlling finger relative orientation of robotic fingers with rolling soft tips, Robotica, August 2017, Cambridge University Press,
DOI: 10.1017/s0263574717000303.
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