Imperial College London

Dr Nicolas Rojas

Faculty of EngineeringDyson School of Design Engineering

Lecturer
 
 
 
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Contact

 

n.rojas

 
 
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Location

 

Dyson BuildingSouth Kensington Campus

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Summary

 

Publications

Citation

BibTex format

@inproceedings{Bircher:2017:10.1109/ICRA.2017.7989394,
author = {Bircher, WG and Dollar, AM and Rojas, N},
doi = {10.1109/ICRA.2017.7989394},
publisher = {IEEE},
title = {A two-fingered robot gripper with large object reorientation range},
url = {http://dx.doi.org/10.1109/ICRA.2017.7989394},
year = {2017}
}

RIS format (EndNote, RefMan)

TY  - CPAPER
AB - It is very challenging for a robotic gripper to achieve large reorientations with grasped objects without accidental object ejection. This paper presents a simple gripper that can repeatedly achieve large reorientations over /rad through the kinematics of the hand-object system alone, without the use of high fidelity contact sensors, complex control of active finger surfaces, or highly actuated fingers. This gripper is the result of two kinematic parameter search optimizationsconnected in cascade. Besides the large range of reorientation attained, the obtained gripper also corresponds to a novel topology since ternary joints in the palm are presented. The in-hand planar reorientation capabilities of the proposed gripper are experimentally tested with success.
AU - Bircher,WG
AU - Dollar,AM
AU - Rojas,N
DO - 10.1109/ICRA.2017.7989394
PB - IEEE
PY - 2017///
TI - A two-fingered robot gripper with large object reorientation range
UR - http://dx.doi.org/10.1109/ICRA.2017.7989394
UR - http://hdl.handle.net/10044/1/44407
ER -