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;

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
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Dataset
Creators
CreatorsAffiliationORCID
Meattini, RobertoUniversity of Bologna0000-0003-0085-915X
Chiaravalli, DavideUniversity of Bologna0000-0002-7171-7629
Palli, GianlucaUniversity of Bologna0000-0001-9457-4643
Melchiorri, ClaudioUniversity of Bologna0000-0002-8475-6782
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Name
Affiliation
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Type
Meattini, Roberto
University of Bologna
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Deposit date
19 Oct 2022 13:48
Last modified
19 Oct 2022 13:48
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Code
DOI
this upload is supplement to
Project name
REMODEL - Robotic tEchnologies for the Manipulation of cOmplex DeformablE Linear objects
Funding program
EC - H2020
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