Introduction to Human and Robotic Hand Grasping Control and Manipulation

What it is about

You learn how grippers with human and robotic hands are modeled, controlled, and used for object manipulation. In the end you will be able to formulate kinematic and dynamic equations for grippers and to control fingers or robotic systems so that they grasp, move and manipulate objects; furthermore you will be able to design new controllers for robotic hands.

What you will be able to do

• Formulate kinematic equations for grippers
• Formulate dynamic equations for grippers
• Control the fingers of a robotic hand
• Control multiple robots for coordinated grasping and manipulation tasks
• Practical implementation of the methods in laboratory experiments
• Design new controllers for robotic hands

What the module consists of

• VorlesungVermittlung der theoretischen Grundlagen zu Modellierung, Greifeigenschaften und Regelung
• ÜbungenExperimentelles Ausprobieren verschiedener Ansätze zu Greifen und Manipulation
• HausaufgabenVorbereitung auf das Abschlussprojekt durch Vertiefung und Anwendung
• Abschlussprojekt (Laborversuch)Transfer der gelernten Methoden auf reale Aufgaben; Experimentwahl und -durchführung mit Präsentation

Teaching method

• LecturesDirect transfer of theoretical knowledge
• ExercisesExperimenting with learned procedures
• Home assignmentsPreparation for the final project