Abstract
This paper discusses the recognition of the position and orientation of the grasped object which model is given only from the information of the position and the forces of the contact points by a Multi-Fingered Robot Hand. Because the center of Gravity of the grasped object is unique, we identify it from the position and the forces of the contact points and use it for recognizing translation of the object relative to the hand. To compare the contact points relative to the center of gravity with the model, the orientation of the object relative to the hand is recognized. Finally, we locate the object relative to the hand flame.
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