Publication
Modeling and realistic simulation of a dexterous robotic hand: SVH hand use-case
| dc.contributor.author | Ribeiro, Francisco M. | |
| dc.contributor.author | Correia, Tiago | |
| dc.contributor.author | Lima, José | |
| dc.contributor.author | Goncalves, Gil | |
| dc.contributor.author | Pinto, Vítor H. | |
| dc.date.accessioned | 2023-03-23T10:39:25Z | |
| dc.date.available | 2023-03-23T10:39:25Z | |
| dc.date.issued | 2023 | |
| dc.description.abstract | 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. | pt_PT |
| dc.description.sponsorship | The authors acknowledge the support of R&D Unit SYSTEC Base (UIDB/00147/2020) and Programmatic (UIDP/00147/2020) and the ARISE Associated Laboratory (LA/P/0112/2020), as well as the support of projects: Digitalizac¸ ˜ao da Arte Humana (Cibertoque), with reference POCI-01-0247-FEDER-072627, co-funded by FEDER, through COMPETE 2020 and Next-Gen Quality Control IoRT System with reference POCI-01-0247-FEDER-072616, co-funded by FEDER, through COMPETE 2020. | pt_PT |
| dc.description.version | info:eu-repo/semantics/publishedVersion | pt_PT |
| dc.identifier.citation | Ribeiro, Francisco M.; Correia, Tiago; Lima, José; Goncalves, Gil; Pinto, Vítor H. (2023). Modeling and realistic simulation of a dexterous robotic hand: SVH hand use-case. In IEEE International Conference on Autonomous Robot Systems and Competitions ICARSC. Tomar, Portugal – April 26-27, 2023. eISSN 2573-9387. p. 132-138 | pt_PT |
| dc.identifier.doi | 10.1109/ICARSC58346.2023.10129643 | |
| dc.identifier.eissn | 2573-9387 | |
| dc.identifier.issn | 2573-9360 | |
| dc.identifier.uri | http://hdl.handle.net/10198/27971 | |
| dc.language.iso | eng | pt_PT |
| dc.peerreviewed | yes | pt_PT |
| dc.publisher | IEEE | pt_PT |
| dc.rights.uri | http://creativecommons.org/licenses/by/4.0/ | pt_PT |
| dc.subject | Robotic hand | pt_PT |
| dc.subject | Realistic simulation | pt_PT |
| dc.subject | Collaborative robotics | pt_PT |
| dc.subject | Modeling | |
| dc.subject | Control | |
| dc.subject | ROS | |
| dc.title | Modeling and realistic simulation of a dexterous robotic hand: SVH hand use-case | pt_PT |
| dc.type | conference paper | |
| dspace.entity.type | Publication | |
| oaire.citation.title | IEEE International Conference on Autonomous Robot Systems and Competitions ICARSC | pt_PT |
| person.familyName | Lima | |
| person.givenName | José | |
| person.identifier | R-000-8GD | |
| person.identifier.ciencia-id | 6016-C902-86A9 | |
| person.identifier.orcid | 0000-0001-7902-1207 | |
| person.identifier.rid | L-3370-2014 | |
| person.identifier.scopus-author-id | 55851941311 | |
| rcaap.rights | openAccess | pt_PT |
| rcaap.type | conferenceObject | pt_PT |
| relation.isAuthorOfPublication | d88c2b2a-efc2-48ef-b1fd-1145475e0055 | |
| relation.isAuthorOfPublication.latestForDiscovery | d88c2b2a-efc2-48ef-b1fd-1145475e0055 |