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Paper WeD09.1

Tadakuma, Kenjiro (Osaka University), Tadakuma, Riichiro (Yamagata University), Higashimori, Mitsuru (Osaka University), Kaneko, Makoto (Osaka University)

Robotic Finger Mechanism Equipped Omnidirectional Driving Roller with Two Active Rotational Axes

Scheduled for presentation during the Video Session "Video Session" (WeD09), Wednesday, May 16, 2012, 16:30−16:35, 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 Mechanism Design of Manipulators, Grasping

Abstract

This paper describes the finger mechanism with omnidirectional driving roller to realize the two active rotational axes on the surface of the grasped object. As the omnidirectional driving roller, we adopt the Omni-Crawler we developed: the crawler mechanism with circular cross section. This cylinderical tracked unit can be used as the roller and the fingers with this roller can manipulate the grasped object in the arbitrary axes. The basic concept of this finger is proposed.

 

 

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