Raptors-inroads to multifingered grasping
نویسندگان
چکیده
In this work, we consider the grasping and manipulation strategies of raptors, focusing on the particularly successful case of the osprey. The osprey makes superb use of its two four-digit feet, each of which has ve degrees of freedom. Its manipulation strategies exploit not only quasistatic but also dynamic grasping, particularly in shing, for which the bird is highly renowned. In this paper, we investigate the unusual kinematic design of the osprey foot, and consider the capabilities of the foot for achieving stable grasps. We also perform a dynamic analysis of the osprey in shing, where the talons dynamically impact the sh. Implications for robot hand design and dynamic grasping are
منابع مشابه
Studies on Grasping and Manipulation by Robotic Multifingered Hands and Arm-hand Systems
The major purpose of this thesis is to discuss the various problems of the gra.sping and manipulation by robotic multifingered hands and arm-hand systems. This thesis consists of two parts. In the first part of Chapters 2 through 4, dliscussions are made on gra.sping and manipulation by multifingered hands. In the second part of Chapters 5 and 6, cooperative manipulations with grasping by macro...
متن کاملTask oriented optimal grasping by multifingered robot hands
The problem of optimal grasping of an object by a multifingered robot hand is discussed. Using screw theory and elementary differential geometry, the concept of a grasp is axiomated and its stability characterized. Three quality measures for evaluating a grasp are then proposed. The last quality measure is task oriented and needs the development of a procedure for modeling tasks as ellipsoids i...
متن کاملObject Grasping with Multifingered Hand Using Variable Stiffness Compliance Control
In this paper, we propose a control system for object grasping tasks performed by the multifingered robot hand. Unlike previous systems, which were built using force control based on mechanical and dynamic analyses, this system is built using position control. The variable stiffness compliance control we propose is used as the grasp controller, and the system is able to perform all approach, co...
متن کاملGrasp Planning for a Multifingered Hand with a Humanoid Robot
This paper presents grasp planning for a multifingered hand with a humanoid robot. Our planner selects different ways of grasping even for the same object according to object position/orientation. If the planner cannot find a feasible grasp with arm/hand kinematics, it switches to full body motion planning. These functions are necessary for realizing the robust grasp planning. Our planner defin...
متن کاملPreshape Jacobians for minimum momentum grasping
This paper deals with the planning of dexterous grasps for multifingered robot hands. We derive a real-time, joint space finger path planning algorithm for the enclose phase of grasping motion. The algorithm minimizes the impact momentum of the hand. It uses a PreshapeJacobian matrix to map task-level hand preshape requirements into kinematic constraints. A master slave scheme avoids inter-fin...
متن کامل