Hierarchical Tactile-Based Control Decomposition of Dexterous In-Hand Manipulation Tasks
In-hand manipulation and grasp adjustment with dexterous robotic hands is a complex problem that not only requires highly coordinated finger movements but also deals with interaction variability. The control problem becomes even more complex when introducing tactile information into the feedback loo...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
Frontiers Media S.A.
2020-11-01
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| Series: | Frontiers in Robotics and AI |
| Subjects: | |
| Online Access: | https://www.frontiersin.org/articles/10.3389/frobt.2020.521448/full |