Experiments in Underactuated In-Hand Manipulation

  • Lael U. Odhner
  • Raymond R. Ma
  • Aaron M. Dollar
Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 88)

Abstract

This paper shows conceptually and experimentally that underactuated robotic hands can stably grasp and manipulate objects placed between the fingertips. Small objects grasped between a planar pair of two-link underactuated fingers having one tendon each are shown to be manipulable over a range of in-hand configurations that can be predicted analytically. The manifold of predicted stable configurations is found by seeking the minimum energy configuration of the elastic fingers under constraints from the actuator tendons and the contact constraints with the grasped objects. Experimental results are shown from HANDLE, a novel underactuated hand capable of a variety of dexterous in-hand tasks.

Keywords

Small Object Contact Constraint Robot Hand Robotic Hand Grasp Object 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

References

  1. 1.
    Bischoff, R.: KUKA youBot - a mobile manipulator for research and education. In: Proc. Inter. Conf. on Robotics and Automation pp. 1–4 (2011)Google Scholar
  2. 2.
    Willow Garage: PR2 Robot, http://www.willowgarage.com/ (Cited June 3, 2012)
  3. 3.
    BarrettHand, http://www.barrett.com/robot/products-hand.htm/ (Cited June 3, 2012)
  4. 4.
    Robotiq Adaptive Robot Gripper, http://www.robotiq.com (Cited June 3, 2012)
  5. 5.
    Aukes, D., Kim, S., Garcia, P., Edsinger, A., Cutkosky, M.: Selectively Compliant Underactuated Hand for Mobile Manipulation. In: Proc. Inter. Conf. on Robotics and Automation pp. 2824–2929 (2012)Google Scholar
  6. 6.
    Birglen, L., Gosselin, C.: Kinetostatic analysis of underactuated fingers. IEEE Trans. on Robotics and Automation 20(2), 211–221 (2004)CrossRefGoogle Scholar
  7. 7.
    Kragten, G.A., Baril, M., Gosselin, C., Herder, J.L.: Stable Precision Grasps by Underactuated Grippers. IEEE Trans. on Robotics 27(6), 1056–1066 (2011)CrossRefGoogle Scholar
  8. 8.
    Dollar, A.M., Howe, R.D.: Joint Coupling Design of Underactuated Hands for Unstructured Environments. Inter. Journal of Robotics Research 30, 1157–1169 (2011)CrossRefGoogle Scholar
  9. 9.
    Dollar, A.M., Howe, R.D.: The Highly Adaptive SDM Hand: Design and Performance Evaluation. Inter. Journal of Robotics Research 29(5), 585–597 (2010)CrossRefGoogle Scholar
  10. 10.
    Rubinger, B., Fulford, P., Gregoris, L., Gosselin, C., Laliberte, T.: Self-Adapting Robotic Auxiliary Hand (SARAH) for SPDM Operations on the International Space Station. In: Proc. Inter. Symposium on A.I. and Robotics & Automation in Space (2001)Google Scholar
  11. 11.
    Hirose, S., Umetani, Y.: The development of soft gripper for the versatile robot hand. Mechanism and Machine Theory 13(3), 251–259 (1978)CrossRefGoogle Scholar
  12. 12.
    Birglen, L.: Kinetostatic analysis of underactuated fingers. IEEE Trans. on Robotics and Automation 20(2), 211–221 (2004)CrossRefGoogle Scholar
  13. 13.
    Odhner, L., Dollar, A.M.: The Freeform Manipulator Analysis Tool, http://www.eng.yale.edu/grablab/fmat/ (Cited June 3, 2012)
  14. 14.
    Odhner, L., Dollar, A.M.: The Smooth Curvature Model: An Efficient Representation of Euler-Bernoulli Flexures as Robot Joints. IEEE Trans. on Robotics (2012) (in press)Google Scholar
  15. 15.
    Su, H.: A Pseudo-rigid-body 3R model for determining large deflection of cantilever beams subject to tip loads. ASME Journ. of Mechanisms and Robotics 1(2) (2009)Google Scholar
  16. 16.
    Hanafusa, H., Asada, H.: Stable Prehension by a Robot Hand with Elastic Fingers. In: Proceedings of the 7th International Symposium on Industrial Robots, pp. 361–368 (1977)Google Scholar

Copyright information

© Springer International Publishing Switzerland 2013

Authors and Affiliations

  • Lael U. Odhner
    • 1
  • Raymond R. Ma
    • 1
  • Aaron M. Dollar
    • 1
  1. 1.Department of Mechanical Engineering and Material ScienceYale UniversityNew HavenUSA

Personalised recommendations