This book introduces a novel model-based dexterous manipulation framework, which, thanks to its precision and versatility, significantly advances the capabilities of robotic hands compared to the previous state of the art. This is achieved by combining a novel grasp state estimation algorithm, the first to integrate information from tactile sensing, proprioception and vision, with an impedance-based in-hand object controller, which enables leading manipulation capabilities, including finger gaiting. The developed concept is implemented on one of the most advanced robotic manipulators, the DLR humanoid robot David, and evaluated in a range of challenging real-world manipulation scenarios and tasks. This book greatly benefits researchers in the field of robotics that study robotic hands and dexterous manipulation topics, as well as developers and engineers working on industrial automation applications involving grippers and robotic manipulators.

Presents state of the art in model-based dexterous manipulation with robotic hands Is tested in challenging real-world manipulation scenarios, using one of the most advanced robotic hand systems Introduces a novel grasp state estimation method, which combines proprioception, tactile sensing, and computer vision

Inhalt
Introduction.- Related Work.- Grasp Modeling.- Grasp State Estimation.- Impedance-based Object Control.- Conclusion.