Imperial College London
Portrait Picture

Dr Angus B. Clark

Faculty of Engineering, Department of Bioengineering

Research Associate
 
 
 
//

Contact

 

a.clark17 Website

 
 
//

Location

 

Sir Michael Uren HubWhite City Campus

//

Summary

 

Publications

Citation

BibTex format

@inproceedings{Lu:2020,
author = {Lu, Q and Baron, N and Clark, A and Rojas, N},
publisher = {RSS},
title = {The RUTH Gripper: systematic object-invariant prehensile in-hand manipulation via reconfigurable underactuation},
url = {http://hdl.handle.net/10044/1/80097},
year = {2020}
}
Download

RIS format (EndNote, RefMan)

TY  - CPAPER
AB  - We introduce a reconfigurable underactuated robothand  able  to  perform  systematic  prehensile  in-hand  manipu-lations  regardless  of  object  size  or  shape.  The  hand  utilisesa  two-degree-of-freedom  five-bar  linkage  as  the  palm  of  thegripper, with three three-phalanx underactuated fingers—jointlycontrolled by a single actuator—connected to the mobile revolutejoints  of  the  palm.  Three  actuators  are  used  in  the  robot  handsystem,  one  for  controlling  the  force  exerted  on  objects  by  thefingers  and  two  for  changing  the  configuration  of  the  palm.This novel layout allows decoupling grasping and manipulation,facilitating  the  planning  and  execution  of  in-hand  manipulationoperations.  The  reconfigurable  palm  provides  the  hand  withlarge  grasping  versatility,  and  allows  easy  computation  of  amap between task space and joint space for manipulation basedon  distance-based  linkage  kinematics.  The  motion  of  objects  ofdifferent  sizes  and  shapes  from  one  pose  to  another  is  thenstraightforward  and  systematic,  provided  the  objects  are  keptgrasped.  This  is  guaranteed  independently  and  passively  by  theunderactuated  fingers  using  a  custom  tendon  routing  method,which allows no tendon length variation when the relative fingerbase  position  changes  with  palm  reconfigurations.  We  analysethe  theoretical  grasping  workspace  and  manipulation  capabilityof the hand, present algorithms for computing the manipulationmap  and  in-hand  manipulation  planning,  and  evaluate  all  theseexperimentally.  Numerical  and  empirical  results  of  several  ma-nipulation  trajectories  with  objects  of  different  size  and  shapeclearly  demonstrate  the  viability  of  the  proposed  concept.
AU  - Lu,Q
AU  - Baron,N
AU  - Clark,A
AU  - Rojas,N
PB  - RSS
PY  - 2020///
TI  - The RUTH Gripper: systematic object-invariant prehensile in-hand manipulation via reconfigurable underactuation
UR  - http://hdl.handle.net/10044/1/80097
ER  -
Download