Real Life Grasping using an Under-actuated Robot Hand - Simulation and Experiments
2009 (English)In: ICAR: 2009 14th International Conference on Advanced Robotics, IEEE , 2009, 366-373 p.Conference paper (Refereed)
We present a system which includes an underactuated anthropomorphic hand and control algorithms for autonomous grasping of everyday objects. The system comprises a control framework for hybrid force/position control in simulation and reality, a grasp simulator, and an under-actuated robot hand equipped with tactile sensors. We start by presenting the robot hand, the simulation environment and the control framework that enable dynamic simulation of an under-actuated robot hand. We continue by presenting simulation results and also discuss and exemplify the use of simulation in relation to autonomous grasping. Finally, we use the very same controller in real world grasping experiments to validate the simulations and to exemplify system capabilities and limitations.
Place, publisher, year, edition, pages
IEEE , 2009. 366-373 p.
Manipulators, Simulation, Robot tactile systems, Modeling
Computer Vision and Robotics (Autonomous Systems)
IdentifiersURN: urn:nbn:se:kth:diva-24054ISI: 000270815500059ScopusID: 2-s2.0-70449341713ISBN: 978-1-4244-4855-5OAI: oai:DiVA.org:kth-24054DiVA: diva2:343029
14th International Conference on Advanced Robotics, Munich, GERMANY, JUN 22-26, 2009
QC 201008112010-08-112010-08-112014-10-08Bibliographically approved