Modeling and realistic simulation of a dexterous robotic hand: SVH hand use-case

Ribeiro, Francisco M.; Correia, Tiago; Lima, José; Goncalves, Gil; Pinto, Vítor H.

http://hdl.handle.net/10198/27971

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Authors

Ribeiro, Francisco M.

Abstract(s)

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.

Keywords

Robotic hand Realistic simulation Collaborative robotics Modeling Control ROS

URI

http://hdl.handle.net/10198/27971

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