In this section
@article{Lu:2021:10.1177/02783649211048929,
author = {Lu, Q and Baron, N and Clark, AB and Rojas, N},
doi = {10.1177/02783649211048929},
journal = {International Journal of Robotics Research},
pages = {1402--1418},
title = {Systematic object-invariant in-hand manipulation via reconfigurable underactuatuation: introducing the RUTH gripper},
url = {http://dx.doi.org/10.1177/02783649211048929},
volume = {40},
year = {2021}
}
TY - JOUR
AB - We introduce a reconfigurable underactuated robot hand able to perform systematic prehensile in-hand manipulations regardless of object size or shape. The hand utilises a two-degree-of-freedom five-bar linkage as the palm of the gripper, with three three-phalanx underactuated fingers—jointly controlled by a single actuator—connected to the mobile revolute joints of the palm. Three actuators are used in the robot hand system in total, one for controlling the force exerted on objects by the fingers through an underactuated tendon system, and two for changing the configuration of the palm and thus the positioning of the fingers. This novel layout allows decoupling grasping and manipulation, facilitating the planning and execution of in-hand manipulation operations. The reconfigurable palm provides the hand with a large grasping versatility, and allows easy computation of a map between task space and joint space for manipulation based on distance-based linkage kinematics. The motion of objects of different sizes and shapes from one pose to another is then straightforward and systematic, provided the objects are kept grasped.This is guaranteed independently and passively by the underactuated fingers using a custom tendon routing method, which allows no tendon length variation when the relative finger base positions change with palm reconfigurations. We analyse the theoretical grasping workspace and grasping and manipulation capability of the hand, present algorithms forcomputing the manipulation map and in-hand manipulation planning, and evaluate all these experimentally. Numericaland empirical results of several manipulation trajectories with objects of different size and shape clearly demonstrate the viability of the proposed concept.
AU - Lu,Q
AU - Baron,N
AU - Clark,AB
AU - Rojas,N
DO - 10.1177/02783649211048929
EP - 1418
PY - 2021///
SN - 0278-3649
SP - 1402
TI - Systematic object-invariant in-hand manipulation via reconfigurable underactuatuation: introducing the RUTH gripper
T2 - International Journal of Robotics Research
UR - http://dx.doi.org/10.1177/02783649211048929
UR - https://journals.sagepub.com/doi/10.1177/02783649211048929
UR - http://hdl.handle.net/10044/1/92116
VL - 40
ER -
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