The GR2 Gripper: An Underactuated Hand for Open-Loop In-Hand Planar Manipulation

Nicolas Rojas, Raymond R. Ma, Aaron M. Dollar
2016 IEEE Transactions on robotics  
The GR2 gripper: an underactuated hand for open-loop inhand planar manipulation Article (Accepted Version) http://sro.sussex.ac.uk Rojas, Nicolas, Ma, Raymond R and Dollar, Aaron M (2016) The GR2 gripper: an underactuated hand for open-loop in-hand planar manipulation. IEEE Transactions on Robotics, 32 (3). pp. 763-770. Abstract-Performing dexterous manipulation of unknown objects with robot grippers without using high-fidelity contact sensors, active/sliding surfaces, or a priori workspace
more » ... oration is still an open problem in robot manipulation and a necessity for many robotics applications. In this paper, we present a twofingered gripper topology that enables an enhanced predefined in-hand manipulation primitive controlled without knowing the size, shape, or other particularities of the grasped object. The inhand manipulation behavior, namely, the planar manipulation of the grasped body, is predefined thanks to a simple hybrid lowlevel control scheme and has an increased range of motion due to the introduction of an elastic pivot joint between the two fingers. Experimental results with a prototype clearly show the advantages and benefits of the proposed concept. Given the generality of the topology and in-hand manipulation principle, researchers and designers working on multiple areas of robotics can benefit from the findings.
doi:10.1109/tro.2016.2562122 fatcat:3idyektvtbcp3c7lyv46y3vsri