Tube Acceleration: Robust Dexterous Throwing Against Release Uncertainty

In robotic throwing, the release phase involves complex dynamic interactions due to object deformation and limited gripper opening speed, often resulting in inaccurate and nonrepeatable throws. While data-driven methods can be employed to compensate for the release uncertainty, the generalizability...

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Veröffentlicht in:	IEEE transactions on robotics Jg. 40; S. 2831 - 2849
Hauptverfasser:	Liu, Yang, Billard, Aude
Format:	Journal Article
Sprache:	Englisch
Veröffentlicht:	New York IEEE 2024 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Schlagworte:	Acceleration Deformation Dexterous manipulation dynamic manipulation Dynamics Grippers manipulation planning Manipulator dynamics Performance evaluation Robot arms Robots robust/adaptive control of robotic systems Robustness Throwing Uncertainty
ISSN:	1552-3098, 1941-0468
Online-Zugang:	Volltext
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