External Sensor-Less in-Hand Object Position Manipulation for an Under-Actuated Hand Using Data-Driven-Based Methods to Compensate for the Nonlinearity of Self-Locking Mechanism
Ha Thang Long Doan,Hikaru Arita,Kenji Tahara,Ha Thang Long Doan,Hikaru Arita,Kenji Tahara
Dexterous manipulation using an under-actuated hand has been a challenging task due to its non-linear dynamical characteristics. For a linkage-based under-actuated hand designed to be used to grasp and manipulate large, heavy, and rigid objects stably, precision grasping is necessary, which makes the task even more difficult to deal with. While approaches based on external sensors have been introd...
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