Dexterous manipulation with underactuated elastic hands
- 1 May 2011
- conference paper
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- p. 5254-5260
- https://doi.org/10.1109/icra.2011.5980263
Abstract
In this paper we show that it is possible to design underactuated robot hands capable of performing dexterous manipulation tasks, despite the fact that the motion of an underactuated hand is not fully constrained by its actuators. If a robot has elastic elements at its joints, then the velocity of the actuators can be mapped onto the velocity of the grasped object using elastic averaging. This mapping can be used to compute classical measures of manipulability for an underactuated hand. We also demonstrate that holonomically constrained grasps can be analyzed to determine the manifold of stable object configurations that can be reached from some initial grasp. This is especially useful for planar manipulation operations, such as twisting a knob or precision positioning. A prototype two-fingered planar underactuated hand is introduced, having the ability to stably grasp and manipulate objects within the hand.Keywords
This publication has 12 references indexed in Scilit:
- The Highly Adaptive SDM Hand: Design and Performance EvaluationThe International Journal of Robotics Research, 2010
- A Quasi-Static Model for Planar Compliant Parallel MechanismsJournal of Mechanisms and Robotics, 2009
- Towards grasping in unstructured environments: grasper compliance and configuration optimizationAdvanced Robotics, 2005
- Kinetostatic Analysis of Underactuated FingersIEEE Transactions on Robotics and Automation, 2004
- Manipulability and singularity analysis of multiple robot systems: a geometric approachPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- Hands for dexterous manipulation and robust grasping: a difficult road toward simplicityIEEE Transactions on Robotics and Automation, 2000
- Manipulability of cooperating robots with unactuated joints and closed-chain mechanismsIEEE Transactions on Robotics and Automation, 2000
- Dynamic analysis of mobility and graspability of general manipulation systemsIEEE Transactions on Robotics and Automation, 1998
- Manipulability of Robotic MechanismsThe International Journal of Robotics Research, 1985
- The development of soft gripper for the versatile robot handMechanism and Machine Theory, 1978