A constrained optimization framework for compliant underactuated grasping
Matei Ciocarlie,Peter K. Allen +1 more
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In this article, the authors used a quasistatic equilibrium formulation to predict the stability of a given grasp and used this method as the inner loop of an optimization algorithm that can find a set of actuation mechanism parameters that optimize the stability measure for an entire set of grasps.Abstract:
. This study focuses on the design and analysis of underactuated robotic hands that use tendons and compliant joints to enable passive mechanical adaptation during grasping tasks. We use a quasistatic equilibrium formulation to predict the stability of a given grasp. This method is then used as the inner loop of an optimization algorithm that can find a set of actuation mechanism parameters that optimize the stability measure for an entire set of grasps. We discuss two possible approaches to design optimization using this framework, one using exhaustive search over the parameter space, and the other using a simplified gripper construction to cast the problem to a form that is directly solvable using well-established optimization methods. Computations are performed in 3-D, allow arbitrary geometry of the grasped objects and take into account frictional constraints. This paper was presented at the IFToMM/ASME International Workshop on Underactuated Grasping (UG2010), 19 August 2010, Montreal, Canada.read more
Citations
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Journal ArticleDOI
Design and testing of a selectively compliant underactuated hand
Daniel M. Aukes,Barrett Heyneman,John Ulmen,Hannah S. Stuart,Mark R. Cutkosky,Susan Kim,Pablo Garcia,Aaron Edsinger +7 more
TL;DR: A compliant underactuated hand, capable of locking individual joints, has been developed that can adopt configurations and grasp sequences that would otherwise require a fully actuated solution.
Journal ArticleDOI
The Velo gripper: A versatile single-actuator design for enveloping, parallel and fingertip grasps
Matei Ciocarlie,Fernando Mier Hicks,Robert Holmberg,Jeffrey Hawke,Michael Schlicht,Jeff Gee,Scott Stanford,Ryan Bahadur +7 more
TL;DR: This work designs, optimize and demonstrates the behavior of a tendon-driven robotic gripper performing parallel, enveloping and fingertip grasps, and introduces a method for optimizing the dimensions of the links in order to achieve envelopinggrasps of a large range of objects.
Proceedings ArticleDOI
Grasping without squeezing: Shear adhesion gripper with fibrillar thin film
TL;DR: A new grasping method for convex objects, using almost exclusively shear forces, with a gripper that utilizes thin film gecko-inspired fibrillar adhesives that conform to the curvature of the object.
Journal ArticleDOI
Geometric design optimization of an under-actuated tendon-driven robotic gripper
TL;DR: In this paper, a geometric model between the actuated force and the contact force for an under-actuated tendon-driven robotic gripper based on the geometric analysis is constructed to obtain the transmission efficiency of the tension force when a tendon wraps a joint mandrel by the geometric relations.
Proceedings ArticleDOI
Kinetic and dimensional optimization for a tendon-driven gripper
TL;DR: The behavior of a tendon-driven robotic gripper performing fingertip and enveloping grasps is designed, optimized and demonstrated, and an additional passive tendon can be used as a constraint preventing the gripper from entering undesirable parts of the joint workspace.
References
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Journal ArticleDOI
Graspit! A versatile simulator for robotic grasping
A.T. Miller,Peter K. Allen +1 more
TL;DR: The different types of world elements and the general robot definition are discussed and the robot library is presented, and the grip analysis and visualization method were presented.
Proceedings ArticleDOI
Planning optimal grasps
Carlo Ferrari,John Canny +1 more
TL;DR: Two general optimality criteria that consider the total finger force and the maximum finger force are introduced and discussed and the geometric interpretation of the two criteria leads to an efficient planning algorithm.
Journal ArticleDOI
The Development of Soft Gripper for the Versatile Robot Hand
Shigeo Hirose,Yoji Umetani +1 more
TL;DR: In this paper, a new type of soft gripper which can softly and gently conform to objects of any shape and hold them with uniform pressure is presented, which is realized by means of a mechanism consisting of multi-links and series of pulleys which can be simply actuated by a pair of wires.
Book
Underactuated Robotic Hands
TL;DR: The purpose of this book is to present, in an attractive format, the expertise developed by the authors on a new technology for grasping, namely under actuation, which has achieved great success both in theory and in practice.
Underactuation in robotic grasping hands
Lionel Birglen,Clément Gosselin +1 more
TL;DR: In this article, the development of selfadaptive and reconfigurable hands which are versatile and easy to control is presented, which have three fingers and each of the fingers has three phalanges.