Modeling and Realistic Simulation of a Dexterous Robotic Hand: SVH Hand use-case

• Tipo: Artigo em Livro de Atas de Conferência Internacional
• Data: 2023

Autores

Ribeiro, FM (Autor) Outra; Correia, T (Autor) Outra; Lima, J (Autor) Outra; Gil Manuel Gonçalves (Autor) FEUP; Pinto, VH (Autor) FEUP

Ata de Conferência Internacional

Título: 2023 IEEE INTERNATIONAL CONFERENCE ON AUTONOMOUS ROBOT SYSTEMS AND COMPETITIONS, ICARSC

Páginas: 132-138

IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC)

Tomar, PORTUGAL, APR 26-27, 2023

Indexação

ISI Web of Knowledge - 1 Citação

Scopus

Outras Informações

ID Authenticus: P-00Y-DQW

DOI: 10.1109/icarsc58346.2023.10129643

Abstract (EN): Recent developments in dexterous robotic manipulation technologies allowed for the design of very compact, yet capable, multi-fingered robotic hands. These can be designed to emulate the human touch and feel, reducing the aforementioned need for human expertise in highly detailed tasks. The presented work focused on the application of two simulation platforms Gazebo and MuJoCo - to a use-case of a Schunk Five Finger Robotic Hand, coupled to the UR5 collaborative manipulator. This allowed to assess the relative appropriateness of each of these platforms.

Idioma: Inglês

Tipo (Avaliação Docente): Científica

Nº de páginas: 7