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

• Type: Article in International Conference Proceedings Book
• Date: 2023

Authors

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

Conference proceedings International

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

Pages: 132-138

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

Tomar, PORTUGAL, APR 26-27, 2023

Indexing

ISI Web of Knowledge - 0 Citations

Scopus

Other information

Authenticus ID: 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.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 7