Finger Trajectory Generation for Planar Dexterous Micro-Manipulation
| Affiliation auteurs | !!!! Error affiliation !!!! |
| Titre | Finger Trajectory Generation for Planar Dexterous Micro-Manipulation |
| Type de publication | Conference Paper |
| Year of Publication | 2016 |
| Auteurs | Seon J-A, Dahmouche R, Brazey B, Gauthier M |
| Editor | Okamura A, Menciassi A, Ude A, Burschka D, Lee D, Arrichiello F, Liu H, Moon H, Neira J, Sycara K, Yokoi K, Martinet P, Oh P, Valdastri P, Krovi V |
| Conference Name | 2016 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA) |
| Publisher | IEEE; IEEE Robot & Automat Soc; ABB; DJI; KUKA; Husqvarna; iRobot; Khalifa Univ; Kinova Univ; MOOG; PAL Robot; UBER; Amazon |
| Conference Location | 345 E 47TH ST, NEW YORK, NY 10017 USA |
| ISBN Number | 978-1-4673-8026-3 |
| Résumé | Dexterous micro-manipulation is a promising way to perform complex manipulation in micro-scale. Current dexterous micro-handling solutions are often limited to small amplitude rotations (around 90 degrees) and to simple shaped objects (such as squares). Our approach consists in developing in-hand micro-manipulation techniques using dexterous micro-hands, taking advantage of adhesion forces, to manipulate arbitrary shaped objects. This paper focuses on the trajectory generation of a dexterous micro-hand to achieve automated repositioning. The statistical results on the generated trajectories show that the adhesion forces in micro-scale can be exploited to enhance micro-manipulation. |