Get 20M+ Full-Text Papers For Less Than $1.50/day. Start a 14-Day Trial for You or Your Team.

Learn More →

Contact sensing and grasping performance of compliant hands

Contact sensing and grasping performance of compliant hands Limitations in modern sensing technologies result in large errors in sensed target object geometry and location in unstructured environments. As a result, positioning a robotic end-effector includes inherent error that will often lead to unsuccessful grasps. In previous work, we demonstrated that optimized configuration, compliance, viscosity, and adaptability in the mechanical structure of a robot hand facilitates reliable grasping in unstructured environments, even with purely feedforward control of the hand. In this paper we describe the addition of a simple contact sensor to the fingerpads of the SDM Hand (Shape Deposition Manufactured Hand), which, along with a basic control algorithm, significantly expands the grasp space of the hand and reduces contact forces during the acquisition phase of the grasp. The combination of the passive mechanics of the SDM Hand along with this basic sensor suite enables positioning errors of over 5 cm in any direction. In the context of mobile manipulation, the performance demonstrated here may reduce the need for much of the complex array of sensing currently utilized on mobile platforms, greatly increase reliability, and speed task execution, which can often be prohibitively slow. http://www.deepdyve.com/assets/images/DeepDyve-Logo-lg.png Autonomous Robots Springer Journals

Contact sensing and grasping performance of compliant hands

Download PDF
11 pages

Loading next page...
 
/lp/springer-journals/contact-sensing-and-grasping-performance-of-compliant-hands-SveHaouOjm

References (32)

Publisher
Springer Journals
Copyright
Copyright © 2009 by Springer Science+Business Media, LLC
Subject
Engineering; Computer Imaging, Vision, Pattern Recognition and Graphics; Artificial Intelligence (incl. Robotics); Control , Robotics, Mechatronics; Robotics and Automation
ISSN
0929-5593
eISSN
1573-7527
DOI
10.1007/s10514-009-9144-9
Publisher site
See Article on Publisher Site

Abstract

Limitations in modern sensing technologies result in large errors in sensed target object geometry and location in unstructured environments. As a result, positioning a robotic end-effector includes inherent error that will often lead to unsuccessful grasps. In previous work, we demonstrated that optimized configuration, compliance, viscosity, and adaptability in the mechanical structure of a robot hand facilitates reliable grasping in unstructured environments, even with purely feedforward control of the hand. In this paper we describe the addition of a simple contact sensor to the fingerpads of the SDM Hand (Shape Deposition Manufactured Hand), which, along with a basic control algorithm, significantly expands the grasp space of the hand and reduces contact forces during the acquisition phase of the grasp. The combination of the passive mechanics of the SDM Hand along with this basic sensor suite enables positioning errors of over 5 cm in any direction. In the context of mobile manipulation, the performance demonstrated here may reduce the need for much of the complex array of sensing currently utilized on mobile platforms, greatly increase reliability, and speed task execution, which can often be prohibitively slow.

Journal

Autonomous Robots – Springer Journals

Published: Aug 26, 2009

There are no references for this article.