Ha Thang Long Doan

External Sensor-Less in-Hand Object Position Manipulation for an Under-Actuated Hand Using Data-Driven-Based Methods to Compensate for the Nonlinearity of Self-Locking Mechanism

Dexterous manipulation using an under-actuated hand has been a challenging task due to its non-linear dynamical characteristics. For a linkage-based under-actuated hand designed to be used to grasp and manipulate large, heavy, and rigid objects stably, precision grasping is necessary, which makes th…