Development of robot hand with suction mechanism for robust and dexterous grasping

Kengo Yamaguchi, Yasuhisa Hirata, Kazuhiro Kosuge

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

28 Citations (Scopus)

Abstract

In this study, we propose a robot hand referred to as iGRIPP 4 (Integrated Gripper for Power and Precision Grasp 4), which has suction mechanism at each fingertip. This robot hand can grasp various objects steadily and achieve dexterous manipulations with a simple mechanism. The iGRIPP 4 has three fingers and two servomotors which are designed to grasp objects in power grasp and precision grasp. The suction mechanism at the fingertips enhances grasp stability, and enables the hand to hold large objects. In addition, the combination of the grasp mechanism and the suction system make it possible to perform some dexterous manipulations. Examples of the manipulations include the picking up a thin object and the packaging an object in a bag. These manipulations generally require hands with many degrees of freedom and intricate control. In this paper, the mechanism of the iGRIPP 4 is presented, and the two dexterous manipulations that can be done with this robot hand are described.

Original languageEnglish
Title of host publicationIROS 2013
Subtitle of host publicationNew Horizon, Conference Digest - 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems
Pages5500-5505
Number of pages6
DOIs
Publication statusPublished - 2013 Dec 1
Event2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013 - Tokyo, Japan
Duration: 2013 Nov 32013 Nov 8

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Other

Other2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013
Country/TerritoryJapan
CityTokyo
Period13/11/313/11/8

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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