A compliant, underactuated hand for robust manipulation
نویسندگان
چکیده
منابع مشابه
A compliant, underactuated hand for robust manipulation
This paper introduces the iRobot-Harvard-Yale (iHY) Hand, an underactuated hand driven by 5 actuators that is capable of performing a wide range of grasping and in-hand repositioning tasks. This hand was designed to address the need for a durable, inexpensive, moderately dexterous hand suitable for use on mobile robots. The primary focus of this paper will be on the novel simplified design of t...
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We built a highly compliant, underactuated, robust and at the same time dexterous anthropomorphic hand. We evaluate its dexterous grasping capabilities by implementing the comprehensive Feix taxonomy of human grasps and by assessing the dexterity of its opposable thumb using the Kapandji test. We also illustrate the hand’s payload limits and demonstrate its grasping capabilities in real-world g...
متن کاملA novel type of compliant and underactuated robotic hand for dexterous grasping
The usefulness and versatility of a robotic endeffector depends on the diversity of grasps it can accomplish and also on the complexity of the control methods required to achieve them. We believe that soft hands are able to provide diverse and robust grasping with low control complexity. They possess many mechanical degrees of freedom and are able to implement complex deformations. At the same ...
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There is a lack of agreement in the literature as to what exactly quantifies the performance of underactuated hands. This paper proposes two benchmark tests to measure the ability of underactuated hands to grasp different objects and the ability to hold the objects when force disturbances apply. The first test determines the smallest and largest cylindrical object which can be successfully gras...
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By exploiting centrifugal and Coriolis forces, simple, lowdegree-of-freedom robots can control objects with more degrees-of-freedom. For example, by allowing the object to roll and slip, a one-degree-of-freedom revolute robot can take a planar object to a full-dimensional subset of its state space. We present a dynamic manipulationplanner that finds manipulator trajectories to move an object fr...
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ژورنال
عنوان ژورنال: The International Journal of Robotics Research
سال: 2014
ISSN: 0278-3649,1741-3176
DOI: 10.1177/0278364913514466