The GR2 gripper: an underactuated hand for open-loop in-hand planar manipulation

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Title: The GR2 gripper: an underactuated hand for open-loop in-hand planar manipulation
Author(s): Rojas, N
Ma, RR
Dollar, AM
Item Type: Journal Article
Abstract: Performing dexterous manipulation of unknown objects with robot grippers without using high-fidelity contact sensors, active/sliding surfaces, or a priori workspace exploration is still an open problem in robot manipulation and a necessity for many robotics applications. In this paper we present a two-fingered gripper topology that enables an enhanced predefined in-hand manipulation primitive controlled without knowing the size, shape, or other particulars of the grasped object. The in-hand manipulation behavior, namely, the planar manipulation of the grasped body, is predefined thanks to a simple hybrid low-level control scheme and has an increased range of motion due to the introduction of an elastic pivot joint between the two fingers. Experimental results with a prototype clearly show the advantages and benefits of the proposed concept. Given the generality of the topology and in-hand manipulation principle, researchers and designers working on multiple areas of robotics can benefit from the findings.
Publication Date: 19-May-2016
Date of Acceptance: 27-Apr-2016
URI: http://hdl.handle.net/10044/1/44667
DOI: https://dx.doi.org/10.1109/TRO.2016.2562122
ISSN: 1552-3098
Start Page: 763
End Page: 770
Journal / Book Title: IEEE Transactions on Robotics
Volume: 32
Issue: 3
Copyright Statement: © 2016 IEEE. Personal use is permitted, but republication/redistribution requires IEEE permission. See http://www.ieee.org/publications standards/publications/rights/index.html for more information.
Keywords: dexterous manipulators
grippers
manipulator kinematics
motion control
GR2 gripper
dexterous manipulation
elastic pivot joint
hybrid low-level control scheme
motion range
open-loop in-hand planar manipulation
predefined in-hand manipulation primitive control enhancement
robot grippers
two-fingered gripper topology
underactuated hand
Couplings
Grasping
Grippers
Kinematics
Robot sensing systems
Topology
Dexterous hands
gripper design
in-hand manipulation
robot grippers
Industrial Engineering & Automation
0801 Artificial Intelligence And Image Processing
0906 Electrical And Electronic Engineering
0913 Mechanical Engineering
Publication Status: Published
Appears in Collections:Faculty of Engineering
Dyson School of Design Engineering



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