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Force Sensorless Impedance Control of Dual-Arm Manipulator-Hand System

Kotaro SAIKI, Ahmad Shauri Ruhizan LIZA, Shunsuke TORITANI, Kenzo NONAMI
2011 Journal of System Design and Dynamics  
Impedance control was designed for a three-fingered robot hand by using this estimated external force.  ...  This robot is a dual-arm manipulator, and each of its end effectors is a three-fingered robot hand. Generally, a force sensor is used for recognition of external force on the fingertips.  ...  Furthermore, our robot hand is equipped with a function to change the position of its two fingers using one actuator to grasp complex-shaped objects.  ... 
doi:10.1299/jsdd.5.953 fatcat:cwij6qoprrai5m5k4uvz6xalrq

External sensorless dynamic object manipulation by a dual soft-fingered robotic hand with torsional fingertip motion

Kenji Tahara, Keigo Maruta, Motoji Yamamoto
2010 2010 IEEE International Conference on Robotics and Automation  
This paper proposes a novel object manipulation method by using a dual soft-fingered robotic hand system, in which each fingertip has a torsional joint.  ...  The control signal is composed of four parts, the one is for grasping the object stably, the second one is for controlling a position of the object, the third one is for controlling an attitude of the  ...  DUAL SOFT-FINGERED ROBOTIC HAND WITH TORSIONAL JOINTS A dual soft-fingered robotic hand system presented here is shown in Fig. 1 .  ... 
doi:10.1109/robot.2010.5509816 dblp:conf/icra/TaharaMY10 fatcat:7z4t7nevwrcezfgfj4aswnstzm

Open-Loop Precision Grasping With Underactuated Hands Inspired by a Human Manipulation Strategy

L. U. Odhner, R. R. Ma, A. M. Dollar
2013 IEEE Transactions on Automation Science and Engineering  
configuration between two fingers.  ...  To date, one of the most difficult tasks for a general-purpose hand has been grasping small, thin objects, which are typically found resting on a flat surface such as a table.  ...  ACKNOWLEDGMENT The robot fingers used in this paper were developed as part of a collaborative team for the DARPA ARM-H program. The authors would like to thank M. Buehler, M. Claffee, E.  ... 
doi:10.1109/tase.2013.2240298 fatcat:iaha2uebyrbmncagc527rzqtey

Planning complex physical tasks for disaster response with a humanoid robot

Hao Dang, Youngbum Jun, Paul Oh, Peter K. Allen
2013 2013 IEEE Conference on Technologies for Practical Robot Applications (TePRA)  
However, controlling a high DOF humanoid robot to autonomously perform a complex task in unknown and unstructured environments is challenging.  ...  Experimental results are presented, both in simulation and physical experiments, with the HUBO humanoid, on a task from the DARPA Robotics Challenge, attaching a fire hose to a hydrant.  ...  Another focus is on the HUBO hand. The current robot hand is sensorless, which makes it difficult to have feedback control in a grasping or manipulation task.  ... 
doi:10.1109/tepra.2013.6556365 dblp:conf/tepra/DangJOA13 fatcat:2cvnjludlbe6jiaxtlmfbjekny

Dexterous object manipulation by a multi-fingered robotic hand with visual-tactile fingertip sensors

Seung-hyun Choi, Kenji Tahara
2020 ROBOMECH Journal  
In this paper, a novel visual-tactile sensor is proposed; additionally, an object manipulation method for a multi-fingered robotic hand grasping an object is proposed by detecting a contact position using  ...  By using the contact position obtained from the proposed sensor and the position of each fingertip obtained from kinematics, the position and orientation of a grasped object are estimated and controlled  ...  a grasped object by a multi-fingered robotic hand.  ... 
doi:10.1186/s40648-020-00162-5 fatcat:oarldgom3nbijc3bc5ehs745ui

Motion Control and External Force Estimation of a Pneumatically Driven Multi-DOF Robotic Forceps

Dongbo Zhou, Kotaro Tadano, Daisuke Haraguchi
2020 Applied Sciences  
Robotic forceps with a rigid-link joint mechanism is orthodox for current robotic-assisted surgery systems.  ...  We developed a position controller with dynamic compensation of the mechanical friction, in which the rotational angles of the three movable joints of the forceps are independently controlled.  ...  (a) (b) Control Scheme Kinematics As shown in Figure 4 , the rotational angles of the two gripper fingers ( and gR ) determine both and by independently controlling the two gripper fingers.  ... 
doi:10.3390/app10113679 fatcat:vuzha2czhrhs3npelredxtwvzy

Reconstructing Human Hand Pose and Configuration using a Fixed-Base Exoskeleton

A. Pereira, G. Stillfried, T. Baker, A. Schmidt, A. Maier, B. Pleintinger, Z. Chen, T. Hulin, N. Y. Lii
2019 2019 International Conference on Robotics and Automation (ICRA)  
Using a kinematic model of the human hand built from MRI data, we can reconstruct the hand pose and joint angles without sensors on the human hand, from attachment points on the first three fingers and  ...  In this paper, we present an approach to reconstruct the pose of the human hand and the joint angles of the fingers when wearing a novel fixed-base (grounded) hand exoskeleton.  ...  ACKNOWLEDGMENT The authors would like to thank our colleagues at DLR: Hannes Höppner for advice on marker tracking, Maxime Chalon for help with hardware, and Alexander Dietrich for advice regarding nullspace  ... 
doi:10.1109/icra.2019.8794059 dblp:conf/icra/PereiraSBSMPCHL19 fatcat:ma37do5lebc7jjrq5j2vl2a5vi

Development of Multi Degrees-of-Freedom Haptic Forceps Robot with Three Actuated Fingers

Takuya Matsunaga, Tomoyuki Shimono, Kouhei Ohnishi
2020 IEEJ Journal of Industry Applications  
Additionally, control on modal space is implemented to verify finger dexterity. The utility of the haptic forceps robot is experimentally validated.  ...  In this study, a multi degrees-of-freedom (DoF) haptic forceps robot with three fingers is presented as an end effector of a flexible forceps robot.  ...  By applying force sensorless control, robots can be simplified and miniaturized. Bilateral Control A method to configure masterslave systems is bilateral control.  ... 
doi:10.1541/ieejjia.20004947 fatcat:ok4u5vahtrhdrkdiidgfozotze

Data-Driven Kinematic Model of PneuNets Bending Actuators for Soft Grasping Tasks

Ciprian Rad, Olimpiu Hancu, Ciprian Lapusan
2022 Actuators  
The proposed approach has applicability in sensorless/self-sensing bending control algorithms of PneuNets actuators and in soft grasping applications where the robotic system must estimate the opening  ...  The proposed DAK model estimates the free bending behavior of a PneuNets actuator (soft gripper finger) based on a set of approximation functions derived from experimental data and an equivalent serial  ...  Soft grippers, on the other hand, are a new class of grasping devices associated with the field of soft robotics where flexible and compliant materials are used together with new types of actuators to  ... 
doi:10.3390/act11020058 fatcat:cwbdj7mrqvcwzcyehczlzftsxm


2018 Journal of Engineering Science and Technology  
The design of two fingered electric gripper, actuated by a direct current motor, is described for pick and place of spark plug.  ...  Robot technology has seen developments to support both the needs of industry and human life. This paper presents a brief review on the modelling and simulation of robotic grippers.  ...  It had three fingers with two degree of freedom each, and rotary potentiometers attached to joints to measure angle state of each joint.  ... 
doaj:571c555d81f841d6bb1ab67c60e8e341 fatcat:qfs2mucn3vd35lhzi662o7vp34

Anthropomorphic robotic hands: a review
Manos robóticas antropomórficas: una revisión

Erika Nathalia Gama Melo, Oscar Fernando Avilés Sánchez, Darío Amaya Hurtado
2014 Ingeniería y Desarrollo  
, sensory and actuator system, and also a short introduction on under-actuated robotic hands is reported.  ...  The next chapters deepen on level of anthropomorphism and dexterity in advanced actuated hands and upper limbs prostheses, as well as a brief overview on issues such as grasping, transmission mechanisms  ...  Two controllers based on internal model control are applied to sensorless grasping control on a myoelectric tendon-driven robotic hand.  ... 
doi:10.14482/inde.32.2.4715 fatcat:ecktobki3fdtjj4y3ba4crkqvq

Integrating vision, haptics and proprioception into a feedback controller for in-hand manipulation of unknown objects

Qiang Li, Christof Elbrechter, Robert Haschke, Helge Ritter
2013 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems  
Subsequently inverse hand kinematics is employed to retrieve joint-level motions, which are implemented on the robot with a position servo loop.  ...  We evaluate our method on two KUKA robot arms, each equipped with a tactile sensor array as end-effectors to perform the object manipulation task.  ...  For example, [16] , [17] proposed the sensorless grasping and manipulation for a triple-fingered robot hand.  ... 
doi:10.1109/iros.2013.6696703 dblp:conf/iros/LiEHR13 fatcat:ojdc6e4webdsvpf3pt4jmtogpe

Flexible robotic grasping strategy with constrained region in environment

Chao Ma, Hong Qiao, Rui Li, Xiao-Qing Li
2017 International Journal of Automation and Computing  
In this paper, the grasping problem for a class of dexterous robotic hands is investigated based on the novel concept of constrained region in environment, which is inspired by the grasping operations  ...  Grasping is a significant yet challenging task for the robots.  ...  The Barretthand is a three-fingered robotic hand with underactuated kinematic structure. The hand has total 4 DoF and each finger has two coupled joints.  ... 
doi:10.1007/s11633-017-1096-5 fatcat:sbfwospmdffyvdv56lhyl6k54y

1000 Trials: An empirically validated end effector that robustly grasps objects from the floor

Zhe Xu, T. Deyle, C.C. Kemp
2009 2009 IEEE International Conference on Robotics and Automation  
The robot also had strong performance with objects that would be difficult to grasp using a traditional end effector, such as a dollar bill, a pill, a cloth, a credit card, a coin, keys, and a watch.  ...  Unstructured, human environments present great challenges and opportunities for robotic manipulation and grasping.  ...  All of the above approaches have relied on prehensile grasping, usually with a hand or fingers closing around the object.  ... 
doi:10.1109/robot.2009.5152808 dblp:conf/icra/XuDK09 fatcat:xfkczhskajgkbk56mmrnznfu74

TWISTER Hand: Underactuated Robotic Gripper Inspired by Origami Twisted Tower

Kiju Lee, Yanzhou Wang, Chuanqi Zheng
2020 IEEE Transactions on robotics  
This article presents a new cable-driven underactuated robotic gripper, called TWISTER Hand. It is designed for adaptable grasping of objects in different shapes, weights, sizes, and textures.  ...  Index Terms-Underactuated robotic gripper, continuum mechanism, semisoft robotic hand, 3-D-printed robots.  ...  DEVELOPMENT OF A ROBOTIC GRIPPER TWISTER Hand is a one-DoF robotic gripper with a simple closing/opening operation.  ... 
doi:10.1109/tro.2019.2956870 fatcat:cuzperqfdnat7mhmgrpk6go25u
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