Grasping Objects Using Shadow DexterousHand with Tactile Feedback

Abstract

The robotic hand is a wider field in Robotics. Improving the dexterity of the robotic hands play a major role in the development of Humanoid Robots. The aim of this project is to perform a more precise grasping on objects using a Shadow Dexterous Hand. The hand used for this project was designed by an UK based company named Shadow Robot. Joining hands with syntouchllc.they embedded the BioTac (tactile) sensors into the Hand. The BioTac sensors are installed at each tip of the five fingers and they provide nineteen different force outputs depending on the area of finger in contact with the object. The shadow hand supports the Robot Operating System software. ROS packages and libraries are used to simulate and perform control actions on the robotic hand in order to perform precise grasping on objects. Moveit! Package of ROS is used here for planning the joint movements of the robot.