Publication: Real life grasping using an under-actuated robot hand: simulation and experiments
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ISBN: 978-3-8396-0035-1 (online)
ISBN: 978-1-4244-4855-5 (print)
Publication date
2009-07
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Tutors
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Publisher
IEEE
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Abstract
We present a system which includes an underactuated anthropomorphic hand and control algorithms for autonomous grasping of everyday objects. The system comprises a control framework for hybrid force/position control in simulation and reality, a grasp simulator, and an under-actuated robot hand equipped with tactile sensors. We start by presenting the robot hand, the simulation environment and the control framework that enable dynamic simulation of an under-actuated robot hand. We continue by presenting simulation results and also discuss and exemplify the use of simulation in relation to autonomous grasping. Finally, we use the very same controller in real world grasping experiments to validate the simulations and to exemplify system capabilities and limitations.
Description
Proceedings of: 14th International Conference on Advanced Robotics (ICAR 2009), 22-26 June 2009, Munich (Germany)
Keywords
Manipulators, Modeling, Robot tactile systems, Simulation
Bibliographic citation
International Conference on Advanced Robotics 2009 (ICAR 2009) (pp. 1-8). IEEE, 2009