000			01683 a2200241 4500
003			OSt
005			20230915153253.0
008			230915b xxu||||| |||| 00| 0 eng d
020			_a9783031069666
040			_cIIT Kanpur
041			_aeng
082			_a629.8933 _bP472i
100			_aPfanne, Martin
245			_aIn-hand object localization and control _benabling dexterous manipulation with robotic hands _cMartin Pfanne
260			_bSpringer _c2022 _aSwitzerland
300			_axxxix, 180p
440			_aSpringer tracts in advanced robotics
490			_a/ edited by Bruno Siciliano and Oussama Khatib _v; v.149
520			_aThis book introduces a novel model-based dexterous manipulation framework, which, thanks to its precision and versatility, significantly advances the capabilities of robotic hands compared to the previous state of the art. This is achieved by combining a novel grasp state estimation algorithm, the first to integrate information from tactile sensing, proprioception and vision, with an impedance-based in-hand object controller, which enables leading manipulation capabilities, including finger gaiting. The developed concept is implemented on one of the most advanced robotic manipulators, the DLR humanoid robot David, and evaluated in a range of challenging real-world manipulation scenarios and tasks. This book greatly benefits researchers in the field of robotics that study robotic hands and dexterous manipulation topics, as well as developers and engineers working on industrial automation applications involving grippers and robotic manipulators.
650			_a Manipulators (Mechanism)
650			_aRobot hands
942			_cBK
999			_c566859 _d566859