NDLI: A design and analysis tool for underactuated compliant hands

Content Provider	IEEE Xplore Digital Library
Author	Ciocarlie, M. Allen, P.
Copyright Year	2009
Description	Author affiliation: Dept. of Computer Science, Columbia University, NY, USA (Ciocarlie, M.; Allen, P.)
Abstract	Highly underactuated and passively adaptive robotic hands have shown great promise for robust performance in unstructured settings. In order to fully realize this potential, efficient tools are needed to analyze the execution of a grasp when using this class of devices. Along this line, this paper introduces a quasistatic analysis method for underactuated hands. First, we predict whether initial contacts between the fingers and the object are stable throughout the execution of a grasp, or the fingers will slip as the hand closes. Second, we compute the unbalanced forces applied to the object during the grasping process. Finally, once the grasp is complete, we analyze its stability as actuator forces are increased. These computations are performed in 3D, allow arbitrary kinematic structure of the fingers or geometry of the target object and take into account frictional constraints. We discuss applications of this method focusing on both on-line computation to execute a specific grasping task and off-line optimization to increase the range of grasps that can be performed using a given hand model.
Starting Page	5234
Ending Page	5239
File Size	237992
Page Count	6
File Format	PDF
ISBN	9781424438037
DOI	10.1109/IROS.2009.5354089
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2009-10-10
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Fingers Grasping Design optimization Intelligent robots Actuators Kinematics Robot sensing systems Couplings Geometry USA Councils
Content Type	Text
Resource Type	Article

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