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Characterizing Continuous Manipulation Families for Dexterous Soft Robot Hands

Jiatian Sun, Jonathan P. King, Nancy S. Pollard
2021 Frontiers in Robotics and AI  
Soft robot hands offer benefits of low-cost, compliance, and customized design, with the promise of dexterity and robustness. The space of opportunities is vast and exciting.  ...  We give an overview of the soft foam robots in production in our lab and describe novel algorithms developed to characterize manipulation families for such robots.  ...  All authors contributed to the article and approved the submitted version.  ... 
doi:10.3389/frobt.2021.645290 pmid:33928130 pmcid:PMC8077230 fatcat:ce7jhjufxff4lpmvodaenol6c4

Dexterous Manipulation with Deep Reinforcement Learning: Efficient, General, and Low-Cost [article]

Henry Zhu, Abhishek Gupta, Aravind Rajeswaran, Sergey Levine and Vikash Kumar
2018 arXiv   pre-print
Dexterous multi-fingered robotic hands can perform a wide range of manipulation skills, making them an appealing component for general-purpose robotic manipulators.  ...  However, such hands pose a major challenge for autonomous control, due to the high dimensionality of their configuration space and complex intermittent contact interactions.  ...  A significant portion of this research has focused on the physical design of anthropomorphic hands, and designing simple controllers for these hands.  ... 
arXiv:1810.06045v1 fatcat:h5dm7rvxj5h5lgkihznx6yelhu

Comparing Piezoresistive Substrates for Tactile Sensing in Dexterous Hands [article]

Rebecca Miles, Martin Matak, Mohanraj Devendran Shanthi, Darrin Young, Tucker Hermans
2020 arXiv   pre-print
While these results demonstrate the potential of piezoresistive foams for tactile sensing applications, they do not fully characterize the efficacy of these sensors for use in robot manipulation.  ...  While tactile skins have been shown to be useful for detecting collisions between a robotic arm and its environment, they have not been extensively used for improving robotic grasping and in-hand manipulation  ...  To address these issues we propose a novel tactile sensor design for use as a tactile skin on a dexterous multi-fingered hand.  ... 
arXiv:2011.06048v1 fatcat:d5n3nj7vznayhnsxbmf7fndnxm

Development of robot hand with suction mechanism for robust and dexterous grasping

Kengo Yamaguchi, Yasuhisa Hirata, Kazuhiro Kosuge
2013 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems  
These manipulations generally require hands with many degrees of freedom and intricate control.  ...  In this paper, the mechanism of the iGRIPP 4 is presented, and the two dexterous manipulations that can be done with this robot hand are described.  ...  Furthermore, this robot hand is able to achieve some dexterous manipulations which are impossible for conventional robot hands.  ... 
doi:10.1109/iros.2013.6697153 dblp:conf/iros/YamaguchiHK13 fatcat:b4ltdhjncngbbahwrwhmnvntri

Grasping Objects of Unknown Geometry with Tactile Feedback [chapter]

Robert Haschke, Matthias Schöpfer, Helge Ritter
2012 Springer Tracts in Advanced Robotics  
Evaluating this grasping approach on two different hands, the anthropomorphic Shadow Dexterous Hand and the three-fingered Schunk Dexterous Hand, we prove the feasibility and portability of our method.  ...  Service robots operating in unconstrained environments like our homes need to be able to grasp and manipulate all kinds of objects, even if they are not known in advance.  ...  This three-fingered hand, which is operated by classical servo motors, is designed for dexterous manipulation task in industrial environments.  ... 
doi:10.1007/978-3-642-25116-0_29 fatcat:ohthqf4u3vgrxfol5wfbl7fcjm

Tactile gloves for autonomous grasping with the NASA/DARPA Robonaut

T.B. Martin, R.O. Ambrose, M.A. Diftler, R. Platt, M.J. Butzer
2004 IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004  
These custom gloves compliment the human like dexterity available in the Robonaut hands.  ...  Tactile data from rugged gloves are providing the foundation for developing autonomous grasping skills for the NASA/DARPA Robonaut, a dexterous humanoid robot.  ...  ACKNOWLEDGMENT NASA and the Mobile Autonomous Robot Software (MARS) program in the DARPA Information Processing Technology Office (IPTO) sponsored this work.  ... 
doi:10.1109/robot.2004.1308071 dblp:conf/icra/MartinADPB04 fatcat:vkga4ysb3fgeflwpdr4dl2qsxu

Design and Evaluation of an Alternative Wheelchair Control System for Dexterity Disabilities

Asiya Khan, Samuel Oliver
2019 Healthcare technology letters  
This work details the design and development of a novel 3D printed, modular alternative wheelchair control system for powered wheelchair users afflicted with dexterity inhibiting disorders, which mechanically  ...  The design process and key aspects of the operation of the joystick manipulator are presented as well as field testing on a wheelchair conducted.  ...  design, and for the supply of a joystick for testing.  ... 
doi:10.1049/htl.2018.5047 pmid:31531225 pmcid:PMC6718067 fatcat:wr6rd2guvbbq7nmdbhvih6a4qe

The KIT Swiss Knife Gripper for Disassembly Tasks: A Multi-Functional Gripper for Bimanual Manipulation with a Single Arm

Julia Borras, Raphael Heudorfer, Samuel Rader, Peter Kaiser, Tamim Asfour
2018 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)  
We analyze state of the art grippers and robotic hands designed for dexterous in-hand manipulation and extract common characteristics and weak points.  ...  The presented concept is obtained from the task requirements for disassembly of electromechanical devices and it is then evaluated for general purpose grasping, in-hand manipulation and operations with  ...  Section II reviews works on gripper designs for dexterous in-hand manipulation and disassembly tasks.  ... 
doi:10.1109/iros.2018.8593567 dblp:conf/iros/SolHRKA18 fatcat:d3kwwrrdpbhnji54pwwduaslqm

PUT-Hand—Hybrid Industrial and Biomimetic Gripper for Elastic Object Manipulation

Tomasz Mańkowski, Jakub Tomczyński, Krzysztof Walas, Dominik Belter
2020 Electronics  
In this article, the design of a five-fingered anthropomorphic gripper is presented specifically designed for the manipulation of elastic objects.  ...  For ease of reproducibility, the design uses as many off-the-shelf and 3D-printed components as possible. The on-board controller circuit and firmware are also presented.  ...  Conflicts of Interest: The authors declare no conflict of interest. Abbreviations The following abbreviations are used in this manuscript:  ... 
doi:10.3390/electronics9071147 fatcat:lirjausifbgabmdrejc5mt7dqa

Fingertip force control based on max torque adjustment for dexterous manipulation of an anthropomorphic hand

Kien-Cuong Nguyen, Veronique Perdereau
2013 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems  
This experiment shows the strong potential of this force control algorithm for grasping and dexterous manipulation activities.  ...  This control scheme has been implemented and tested on the Shadow motor robot hand.  ...  On the one hand, the success of this algorithm will enable many other advances in the domain of grasping and dexterous manipulation.  ... 
doi:10.1109/iros.2013.6696863 dblp:conf/iros/NguyenP13 fatcat:uwjydev2ubdytb6ukuxs3ivgn4

Robotic Grasping and Fine Manipulation Using Soft Fingertip [chapter]

Akhtar Khurshid, Abdul Ghafoor, M. Afzaal
2011 Advances in Mechatronics  
One reason is that the design and control of such hands present numerous difficult tradeoffs among cost, size, power, flexibility and ease of control.  ...  These cables bring attendant control problems due to elasticity and friction .A second reason for slow progress in applying dexterous hands to manipulation tasks is the formidable challenge of programming  ...  This chapter is distributed under the terms of the Creative Commons Attribution-NonCommercial-ShareAlike-3.0 License, which permits use, distribution and reproduction for non-commercial purposes, provided  ... 
doi:10.5772/23697 fatcat:mf3c2vbihzgffp6zcxbfmkzt6a

Analysis of human peg-in-hole executions in a robotic embodiment using uncertain grasps

Thiusius Rajeeth Savarimuthu, Danni Liljekrans, Lars-Peter Ellekilde, Ales Ude, Bojan Nemec, Nobert Kruger
2013 9th International Workshop on Robot Motion and Control  
At the end of the paper, we discuss consequences for using these insights for deriving algorithms for robot execution of peg-in-hole actions with dexterous manipulators.  ...  Ahstract-In this paper, we perform a quantitative and qualitative analysis of human peg-in-hole operations in a tele operating setting with a moderate degree of dexterity.  ...  ACKNOWLEDGMENT The authors would like to thank Dirk Kraft and Jimmy Alison Jorgensen for initial discussions and feedback on the tele-operating system and also for general help in the work presented.  ... 
doi:10.1109/romoco.2013.6614614 dblp:conf/romoco/SavarimuthuLEUN13 fatcat:mw6x6afjnrcf5bijjdjzn7keay

Grasp Stability Analysis of an Isotropic Direct Driven Three-Finger Soft Robot Hand

Elango Natarajan, Mahmud Iwan Solihin, Jeunn Hao Chong
2017 International Journal on Advanced Science, Engineering and Information Technology  
With these objectives in mind, a threefingered soft hand is designed, and gripping force and stability analysis are done experimentally.  ...  Grasp stability is considered to be an important aspect in object manipulation of a multifingered robot hand.  ...  ACKNOWLEDGMENT The authors would like to give special thanks to UCSI University, Malaysia for the fund support under YSIF, Grant No.: YSIF-2015-000033.  ... 
doi:10.18517/ijaseit.7.5.2526 fatcat:lt56v6axurg7dlztteiiqudawe

Experimentally driven design of a palpating gripper with minimally invasive surgery considerations

Adam Spiers, Sarah Baillie, Tony Pipe, Raj Persad
2012 2012 IEEE Haptics Symposium (HAPTICS)  
A primary advantage of this system is its dexterity and compactness, compared to other manipulators.  ...  It is argued that a single tactile sensor is sufficiently useful for a two fingered system and a scaled prototype of the system has been designed to accommodate such a sensor.  ...  In order to permit dexterity while maintaining compactness, a parallelogram structure was implemented for control of the thumb mechanism highlighted by a dotted line in Figure 9 .A.  ... 
doi:10.1109/haptic.2012.6183800 dblp:conf/haptics/SpiersBPP12 fatcat:r5iynsr5szgbvcfasxxco2k75q

Design, realization and sensorization of the dexterous iCub hand

Alexander Schmitz, Ugo Pattacini, Francesco Nori, Lorenzo Natale, Giorgio Metta, Giulio Sandini
2010 2010 10th IEEE-RAS International Conference on Humanoid Robots  
The principal design rationale was the necessity to supply the robot with sufficiently dexterous and sensorized hands in order to study complex skills such as manipulation.  ...  The final design has 9 actuators for each hand, 12 tactile sensors at each fingertip, 48 pressure sensors in the palm and 17 position sensors.  ...  Differently from other projects, the hand has been specifically designed for the iCub and therefore an exceptional level of integration was achieved allowing high dexterity and sensorization in limited  ... 
doi:10.1109/ichr.2010.5686825 dblp:conf/humanoids/SchmitzPNNMS10 fatcat:o5zeopnavrh2hjqohgwbmg2ck4
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