Journal
IEEE TRANSACTIONS ON ROBOTICS
Volume 32, Issue 3, Pages 763-770Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TRO.2016.2562122
Keywords
Dexterous hands; gripper design; in-hand manipulation; robot grippers
Categories
Funding
- National Science Foundation [IIS-1317976, IIS-0952856]
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Performing dexterous manipulation of unknown objects with robot grippers without using high-fidelity contact sensors, active/sliding surfaces, or a priori workspace exploration is still an open problem in robot manipulation and a necessity for many robotics applications. In this paper we present a two-fingered gripper topology that enables an enhanced predefined in-hand manipulation primitive controlled without knowing the size, shape, or other particulars of the grasped object. The in-hand manipulation behavior, namely, the planar manipulation of the grasped body, is predefined thanks to a simple hybrid low-level control scheme and has an increased range of motion due to the introduction of an elastic pivot joint between the two fingers. Experimental results with a prototype clearly show the advantages and benefits of the proposed concept. Given the generality of the topology and in-hand manipulation principle, researchers and designers working on multiple areas of robotics can benefit from the findings.
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