Design of a Flexible Articulated Robotic Hand for a Humanoid Robot
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The coordination of multi-robot systems is becoming one of the most important areas of research in robotics, mostly because it is required by numerous complex applications. These applications range from intelligent transportation systems, search and rescue ...
In this paper we propose and evaluate a control system to (1) learn and (2) adapt robot motion for continuous non-rigid contact with the environment. We present the approach in the context of wiping surfaces with robots. Our approach is based on learning b ...
Although considering dynamics in the control of humanoid robots can improve tracking and compliance in agile tasks, it requires local and global states of the system, precise torque control and proper modeling. In this paper we discuss practical issues to ...
In a human robot interaction scenario, predicting the human motion intention is essential for avoiding inconvenient delays and for a smooth reactivity of the robotic system. In particular, when dealing with hand prosthetic devices, an early estimation of t ...
In this article, we propose a multi-staged algorithm to detect the magnitude, direction and location of a single external force applied to a humanoid robot while performing dynamic tasks. We use contact force and joint torque sensors as well as IMU to esti ...
A stretchable tactile sensor skin has been demonstrated on the dorsal side of a robotic hand for the first time. The sensors can detect normal pressures on the same scale as human skin but also in excess of 250 kPa and withstand strains in excess of 15%. U ...
Even the most rudimentary social cues may evoke affiliative responses in humans and promote socialcommunication and cohesion. The present work tested whether such cues of an agent may also promotecommunicative interactions in a nonhuman primate species, by ...
In this paper, we investigate how the interactions of a robot with its environment can be used to create concepts that are typically represented by verbs in language. Towards this end, we utilize the notion of affordances to argue that verbs typically refe ...
In research of human-robot interactions, human likeness (HL) of robots is frequently used as an individual, vague parameter to describe how a robot is perceived by a human. However, such a simplification of HL is often not sufficient given the complexity a ...
In this paper we propose a general control framework for ensuring stability of humanoid robots, determined through a normalized zero-moment-point (ZMP). The proposed method is based on the modified prioritized kinematic control, which allows smooth and con ...