A Case Study of ROS Software Re-usability for Dexterous In-Hand Manipulation

Abstract

Real world objects handling requires a complete robot and sensor system that must be managed by an adequate software architecture. This paper presents the lessons learned in the successful integration of a software architecture based on ROS within the European project HANDLE. It focuses on re-usability and adaptability of several packages of the ROS community for the purpose of real world in-hand manipulation. Solutions proposed can be transferred to other arm and hand systems.