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Real life grasping using an under-actuated robot hand: simulation and experiments
(Mechatronics)
Örebro University, School of Science and Technology. (AASS)
Örebro University, School of Science and Technology. (AASS)
Royal Institute of Technology (KTH). (CSVAP)
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2009 (English)In: ICAR 2009: 14th international conference on advanced robotics, vols 1-2, New York: IEEE conference proceedings, 2009, 366-373 p.Conference paper, (Refereed)
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.

Place, publisher, year, edition, pages
New York: IEEE conference proceedings, 2009. 366-373 p.
Keyword [en]
robotic grasping, robotic hand
National Category
Information Science Control Engineering
Research subject
Automatic Control
Identifiers
URN: urn:nbn:se:oru:diva-8426ISI: 000270815500059Scopus ID: 2-s2.0-70449341713ISBN: 978-1-4244-4855-5 (print)OAI: oai:DiVA.org:oru-8426DiVA: diva2:274825
Conference
14th International Conference on Advanced Robotics, Munich, Germany, Jun 22-26, 2009
Available from: 2009-11-02 Created: 2009-11-02 Last updated: 2017-03-15Bibliographically approved

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CiteExportLink to record
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Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
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More styles
Language
  • de-DE
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  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
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  • Other locale
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Output format
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  • asciidoc
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