Jul 2026· 2026 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)· pp. 1-6· 0 citations· 19 references
Abstract
Dexterous in-hand manipulation is becoming increasingly important as robotic systems evolve toward agile, general-purpose automation. This paper presents a decentralized, grid-based trajectory planning approach for in-hand manipulation that coordinates the eleven degrees of freedom of a fully pneumatically actuated anthropomorphic robotic hand. The planner uses uniform time discretization and continuously differentiable second-order point-to-point trajectories in position and velocity, which allows intuitive manual tuning of coordinated multi-actuator motions. Experimental validation on two in-hand manipulation tasks demonstrates smooth, highly dynamic, and repeatable execution of complex ball rotations, despite the lack of sensing for the soft finger actuators and object pose estimation. The results are achieved by combining feedforward control of the soft finger actuators with feedback control of the rigid palm actuators considering friction compensation. The proposed trajectory planning approach is generalizable and transferable to robots with parallel kinematics and partially observed states.
Soft actuators enable dexterous and compliant interaction, but closed-loop task-space control remains challenging due to strong nonlinearities, distributed deformation, and uncertainty in their dynamics. This paper presents a real-time dynamic-model-based task-space feedback and estimation framework based on a non-mini...
Nithin S. Kumar, Joshua Gaston, D. C. Rucker et al.· IEEE/ASME transactions on me...· 0 citations
The results demonstrate that robust simultaneous five-DoF end-effector pose and contact-force tracking is achievable on a standard underactuated quadrotor with a simple, rigid, single-link arm, without requiring a fully actuated platform, a complex arm, or dedicated force/torque sensing.
Dual-arm robots often encounter difficulties when handling easily deformable or structurally complex objects using traditional grasping-based manipulation. In addition, grasping and releasing operations introduce significant time overhead. To address these limitations, this paper proposes a vision-based predictive cont...
Chang Liu, Yuan Yang, Panfeng Huang et al.· 2026 IEEE International Conf...· 0 citations
Fully actuated UAVs provide enhanced maneuverability and accurate six-degree-of-freedom (6-DoF) control, making them well-suited for demanding tasks such as aerial manipulation, operation in confined environments, and fault-tolerant missions. However, the resulting over-actuation poses challenges in control allocation...
Rohit V. Nanavati, Abhinav Sinha, S. R. Kumar· International Workshop on Va...· 0 citations
This thesis investigates advanced modeling and control strategies for robotic manipulators, focusing on the DLR-HIT II robotic hand and the KUKA LBR iiwa. It presents three core contributions that integrate simulation, model-based control, and data-driven methods to improve torque and position control under uncertainti...
The Hybrid Kinematic Optimization framework presented provides a robust, scalable and intelligent framework applicable to solve the needs of next generation autonomous robotic manipulators to work within dynamic environments.
Hyeon Woo-Lee, Ken Seok-Park· International Journal of Int...· 0 citations
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