@inproceedings{ac618bec7c674756a1d2d159c5478bab,
title = "Model-free in-hand manipulation based on commanded virtual contact points",
abstract = "This paper presents a simple strategy to allow the rotation of unknown objects using a robotic hand equipped with tactile sensors. The tactile and kinematic information, obtained while that the object is manipulated, is used to determine the hand configurations that change the object position. The approach was successfully tested using an anthropomorphic robotic hand (Allegro Hand), with the fingertips modified to include tactile sensors (WTS-FT). Using three fingers of the hand, every-day objects were successfully rotated without using their model for the determination of the hand movements.",
keywords = "Model-free manipulation, multi-fingered hand, tactile sensing",
author = "Andr{\'e}s Monta{\~n}o and Ra{\'u}l Su{\'a}rez",
note = "Publisher Copyright: {\textcopyright} 2019 IEEE.; 24th IEEE International Conference on Emerging Technologies and Factory Automation, ETFA 2019 ; Conference date: 10-09-2019 Through 13-09-2019",
year = "2019",
month = sep,
doi = "10.1109/ETFA.2019.8869291",
language = "English",
series = "IEEE International Conference on Emerging Technologies and Factory Automation, ETFA",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "586--592",
booktitle = "Proceedings - 2019 24th IEEE International Conference on Emerging Technologies and Factory Automation, ETFA 2019",
address = "United States",
}