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Paper WeD09.15

Odhner, Lael (Yale University), Ma, Raymond (Yale University), Dollar, Aaron (Yale University)

Dexterous Manipulation with Underactuated Fingers: Flip-And-Pinch Task

Scheduled for presentation during the Video Session "Video Session" (WeD09), Wednesday, May 16, 2012, 17:40−17:45, Meeting Room 9 (Sa)

2012 IEEE International Conference on Robotics and Automation, May 14-18, 2012, RiverCentre, Saint Paul, Minnesota, USA

This information is tentative and subject to change. Compiled on October 24, 2017

Keywords Underactuated Robots, Mechanism Design of Manipulators, Grasping

Abstract

This video demonstrates the use of an underactuated robotic hand modified for the flip-and-pinch task to pick up thin objects from a table surface. Though well-suited for power-grasping, underactuated hands have difficulty with pinch-grasping and precision motions. We introduce a repeatable and robust method by which an underactuated hand flips thin objects off the table into a stable pinch grasp. We explain why this task is quasi-static and robust for a wide range of object dimensions.

 

 

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