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Velvet fingers: grasp planning and execution for an underactuated gripper with active surfaces
Örebro University, School of Science and Technology. (AASS)
Örebro University, School of Science and Technology. (AASS)ORCID iD: 0000-0002-6013-4874
Interdepart. Research Center “E. Piaggio”, University of Pisa, Pisa, Italy.
Interdepart. Research Center “E. Piaggio”, University of Pisa, Pisa, Italy.
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2014 (English)In: Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), IEEE conference proceedings, 2014, p. 3669-3675Conference paper, Published paper (Refereed)
Abstract [en]

In this work we tackle the problem of planning grasps for an underactuated gripper which enable it to retrieve target objects from a cluttered environment. Furthermore,we investigate how additional manipulation capabilities of the gripping device, provided by active surfaces on the inside of the fingers, can lead to performance improvement in the grasp execution process. To this end, we employ a simple strategy, in which the target object is ‘pulled-in’ towards the palm during grasping which results in firm enveloping grasps. We show the effectiveness of the suggested methods by means of experiments conducted in a real-world scenario.

Place, publisher, year, edition, pages
IEEE conference proceedings, 2014. p. 3669-3675
Series
IEEE International Conference on Robotics and Automation ICRA, ISSN 1050-4729
Keywords [en]
Grasp Planning, Grasp Control, Underactuation
National Category
Computer Sciences
Research subject
Computer Science
Identifiers
URN: urn:nbn:se:oru:diva-33749DOI: 10.1109/ICRA.2014.6907390ISI: 000377221103102Scopus ID: 2-s2.0-84929191138ISBN: 978-1-4799-3685-4 (print)OAI: oai:DiVA.org:oru-33749DiVA, id: diva2:696464
Conference
2014 IEEE International Conference on Robotics & Automation (ICRA), Hong Kong Convention and Exhibition Center, May 31 - June 7, 2014. Hong Kong, China
Projects
EU FP7 ROBLOG
Funder
EU, FP7, Seventh Framework Programme, J44528Available from: 2014-02-13 Created: 2014-02-13 Last updated: 2018-01-11Bibliographically approved

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Krug, RobertStoyanov, TodorLilienthal, Achim J.

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Citation style
  • apa
  • ieee
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