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Real life grasping using an under-actuated robot hand: simulation and experiments
(Mechatronics)
Örebro universitet, Akademin för naturvetenskap och teknik. (AASS)
Örebro universitet, Akademin för naturvetenskap och teknik. (AASS)
Royal Institute of Technology (KTH). (CSVAP)
Vise andre og tillknytning
2009 (engelsk)Inngår i: ICAR 2009: 14th international conference on advanced robotics, vols 1-2, New York: IEEE conference proceedings, 2009, s. 366-373Konferansepaper, Publicerat paper (Fagfellevurdert)
Abstract [en]

We present a system which includes an under-actuated anthropomorphic hand and control algorithms for autonomous grasping of everyday objects. The system comprised a control framework for hybrid force/position control in simulation and reality, a grasp simulator, and an under-actuated robot hand equipped with tactile sensors.We start by presenting the robot hand, the simulation environment and the control framework that enable dynamic simulation of an under-actuated robot hand. We continue by presenting simulation results and also discuss and exemplify the use of simulation in relation to autonomous grasping. Finally, we use the very same controller in real world grasping experiments to validate the simulations and to exemplify system capabilities and limitations.

sted, utgiver, år, opplag, sider
New York: IEEE conference proceedings, 2009. s. 366-373
Emneord [en]
robotic grasping, robotic hand
HSV kategori
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Reglerteknik
Identifikatorer
URN: urn:nbn:se:oru:diva-8426ISI: 000270815500059Scopus ID: 2-s2.0-70449341713ISBN: 978-1-4244-4855-5 (tryckt)OAI: oai:DiVA.org:oru-8426DiVA, id: diva2:274825
Konferanse
14th International Conference on Advanced Robotics, Munich, Germany, Jun 22-26, 2009
Tilgjengelig fra: 2009-11-02 Laget: 2009-11-02 Sist oppdatert: 2018-01-12bibliografisk kontrollert

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Totalt: 49 treff
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