Title :
Precision grasping and manipulation of small objects from flat surfaces using underactuated fingers
Author :
Odhner, Lael U. ; Ma, Raymond R. ; Dollar, Aaron M.
Author_Institution :
Dept. of Mech. Eng. & Mater. Sci., Yale Univ., New Haven, CT, USA
Abstract :
In this paper we demonstrate an underactuated finger design and grasping method for precision grasping and manipulation of relatively small objects. Taking a cue from human manipulation, we introduce the flip-and-pinch task, in which the hand picks up thin objects from a table surface by flipping it into a stable configuration. Despite the fact that finger motions are not fully constrained by the hand actuators, we demonstrate that the hand and fingers can be configured with the table surface to produce a set of constraints that result in a repeatable quasi-static motion trajectory. This approach is shown to be robust for a variety of object sizes, even when utilizing identical open-loop kinematic playback. Experimental results suggest that the advantages of underactuated, adaptive robot hands can be carried over to dexterous, precision tasks as well.
Keywords :
actuators; dexterous manipulators; grippers; motion control; open loop systems; robot kinematics; trajectory control; adaptive robot hands; finger motions; flat surfaces; flip-and-pinch task; hand actuators; hand picks up thin objects; human manipulation; identical open-loop kinematic playback; object sizes variety; precision grasping; precision tasks; relatively small objects manipulation; repeatable quasistatic motion trajectory; stable configuration; table surface; underactuated finger design; Actuators; Couplings; Grasping; Joints; Thumb; Trajectory;
Conference_Titel :
Robotics and Automation (ICRA), 2012 IEEE International Conference on
Conference_Location :
Saint Paul, MN
Print_ISBN :
978-1-4673-1403-9
Electronic_ISBN :
1050-4729
DOI :
10.1109/ICRA.2012.6225211