Velvet Fingers: Grasp Planning and Execution for an Underactuated Gripper with Active Surfaces

被引：0

作者：

Krug, Robert ^{[1
]}

Stoyanov, Todor ^{[1
]}

Bonilla, Manuel ^{[2
]}

Tincani, Vinicio ^{[2
]}

Vaskevicius, Narunas ^{[3
]}

Fantoni, Gualtiero ^{[2
]}

Birk, Andreas ^{[3
]}

Lilienthal, Achim ^{[1
]}

Bicchi, Antonio ^{[2
]}

机构：

[1] Univ Orebro, AASS Res Ctr, Fak Gatan 1, S-70182 Orebro, Sweden

[2] Univ Pisa, Interdept Res Ctr E Piaggio, I-56100 Pisa, Italy

[3] Jacobs Univ Bremen, Sch Engn & Sci, Robot Grp, D-28725 Bremen, Germany

来源：

2014 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA) | 2014年

关键词：

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this work we tackle the problem of planning grasps for an underactuated gripper which enable it to retrieve target objects from a cluttered environment. Furthermore, we investigate how additional manipulation capabilities of the gripping device, provided by active surfaces on the inside of the fingers, can lead to performance improvement in the grasp execution process. To this end, we employ a simple strategy, in which the target object is 'pulled-in' towards the palm during grasping which results in firm enveloping grasps. We show the effectiveness of the suggested methods by means of experiments conducted in a real-world scenario.

引用

页码：3669 / 3675

页数：7

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