Meattini, Roberto ;
Chiaravalli, Davide ;
Palli, Gianluca ;
Melchiorri, Claudio
(2022)
REMODEL. WP3. User And System Interface. T3_3. Teaching By Demonstration Of Skills For New Assembly References And Tasks. Human to robot hand motion mapping method. v0;.
University of Bologna.
DOI
10.6092/unibo/amsacta/7054.
[Dataset]
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Abstract
The datasets contain the data related to a novel hybrid approach that combines both joint and Cartesian mappings in a single solution. In particular, we exploit the a priori, in-hand information related to the areas of the workspace in which thumb and finger fingertips can get in contact. This allows to define, for each finger, a zone of transition from joint to Cartesian mapping. As a consequence, both hand shape during volar grasps and correctness of the fingertip positions for precision grasps are preserved, despite the master-slave kinematic dissimilarities. The data are related to the publication:
R. Meattini, D. Chiaravalli, G. Palli and C. Melchiorri, "Exploiting In-Hand Knowledge in Hybrid Joint-Cartesian Mapping for Anthropomorphic Robotic Hands," in IEEE Robotics and Automation Letters, vol. 6, no. 3, pp. 5517-5524, July 2021, doi: 10.1109/LRA.2021.3078658.
Abstract
The datasets contain the data related to a novel hybrid approach that combines both joint and Cartesian mappings in a single solution. In particular, we exploit the a priori, in-hand information related to the areas of the workspace in which thumb and finger fingertips can get in contact. This allows to define, for each finger, a zone of transition from joint to Cartesian mapping. As a consequence, both hand shape during volar grasps and correctness of the fingertip positions for precision grasps are preserved, despite the master-slave kinematic dissimilarities. The data are related to the publication:
R. Meattini, D. Chiaravalli, G. Palli and C. Melchiorri, "Exploiting In-Hand Knowledge in Hybrid Joint-Cartesian Mapping for Anthropomorphic Robotic Hands," in IEEE Robotics and Automation Letters, vol. 6, no. 3, pp. 5517-5524, July 2021, doi: 10.1109/LRA.2021.3078658.
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DOI
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19 Oct 2022 13:48
Last modified
19 Oct 2022 13:48
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EC - H2020
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Other metadata
Document type
Dataset
Creators
Subjects
DOI
Contributors
Deposit date
19 Oct 2022 13:48
Last modified
19 Oct 2022 13:48
Related identifier
Project name
Funding program
EC - H2020
URI
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