Modeling and Realistic Simulation of a Dexterous Robotic Hand: SVH Hand use-case
Authors:
- 26 April 2023
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- p. 132-138
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.Keywords
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