ICRA 2012 Paper Abstract


Paper WeC03.1

Aukes, Daniel (Stanford University), Cutkosky, Mark (Stanford University), Garcia, Pablo (SRI International), Kim, Susan (SRI International), Edsinger, Aaron (Meka Robotics)

Selectively Compliant Underactuated Hand for Mobile Manipulation

Scheduled for presentation during the Regular Session "Underactuated Grasping" (WeC03), Wednesday, May 16, 2012, 14:30−14:45, Meeting Room 3 (Mak'to)

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 June 20, 2018

Keywords Multifingered Hands, Underactuated Robots, Dexterous Manipulation


The demands of mobile manipulation are leading to a new class of multi-fingered hands with a premium on being lightweight and robust as well as being able to grasp and perform basic manipulations with a wide range of objects. A promising approach to addressing these goals is to use compliant, underactuated hands with selectively lockable degrees of freedom. This paper presents the design of one such hand that combines series-elastic actuation and electrostatic braking at the joints. A numerical analysis shows how the maximum pullout force varies as a function of kinematic parameters, spring forces at the joints and brake torques.



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