Design of underactuated hand for caging-based grasping of free-flying object

Daichi Hirano, Kenji Nagaoka, Kazuya Yoshida

Research output: Chapter in Book/Report/Conference proceedingConference contribution

13 Citations (Scopus)

Abstract

This paper discusses an underactuated robotic hand for grasping a free-flying object. We introduce a concept of creating a closure called caging before locking the target in an immobilizing grasp. The caging is a closure that geometrically constrains the target such that the target can not escape from its closure created by robotic fingers. The design of the underactuated hand that performs caging-based grasping of the target is presented. The proposed underactuated hand was evaluated through the static analysis and under a condition called object closure. The prototype of the proposed hand was developed, and its performance was verified experimentally using an air-floating system.

Original languageEnglish
Title of host publication2013 IEEE/SICE International Symposium on System Integration, SII 2013
PublisherIEEE Computer Society
Pages436-442
Number of pages7
ISBN (Print)9781479926268
DOIs
Publication statusPublished - 2013 Jan 1
Event2013 6th IEEE/SICE International Symposium on System Integration, SII 2013 - Kobe, Japan
Duration: 2013 Dec 152013 Dec 17

Publication series

Name2013 IEEE/SICE International Symposium on System Integration, SII 2013

Other

Other2013 6th IEEE/SICE International Symposium on System Integration, SII 2013
CountryJapan
CityKobe
Period13/12/1513/12/17

ASJC Scopus subject areas

  • Control and Systems Engineering

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    Hirano, D., Nagaoka, K., & Yoshida, K. (2013). Design of underactuated hand for caging-based grasping of free-flying object. In 2013 IEEE/SICE International Symposium on System Integration, SII 2013 (pp. 436-442). [6776675] (2013 IEEE/SICE International Symposium on System Integration, SII 2013). IEEE Computer Society. https://doi.org/10.1109/sii.2013.6776675