A two-fingered robot gripper with large object reorientation range

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Title: A two-fingered robot gripper with large object reorientation range
Authors: Bircher, WG
Dollar, AM
Rojas, N
Item Type: Conference Paper
Abstract: It is very challenging for a robotic gripper to achieve large reorientati ons with grasped objects without accidental object ejection. This paper presents a simple gripper that can repeatedly achieve large reorientations over 흅 / ퟐ rad through the kinematics of the hand - object system alone, without the use of high fidelity contact sensors, complex control of active finger surfaces, or highly actuated fingers. This gripper is the result of two kinematic parameter search optimizations connected in cascade. Besides the large range of reorientation attained, the obtained gripper also corresponds to a novel topology since ternary joints in the palm are presented. The in - hand planar reorientation capabilities of the proposed gripper are ex perimentally tested with success.
Issue Date: 29-May-2017
Date of Acceptance: 15-Jan-2017
URI: http://hdl.handle.net/10044/1/44407
Publisher: IEEE
Copyright Statement: This paper is embargoed until publication.
Conference Name: 2017 IEEE International Conference on Robotics and Automation (ICRA)
Publication Status: Accepted
Start Date: 2017-05-29
Finish Date: 2017-06-03
Conference Place: Singapore
Embargo Date: publication subject to indefinite embargo
Appears in Collections:Faculty of Engineering
Dyson School of Design Engineering

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