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

Daichi Hirano, Kenji Nagaoka, Kazuya Yoshida

研究成果: Conference contribution

18 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトル2013 IEEE/SICE International Symposium on System Integration, SII 2013
出版社IEEE Computer Society
ページ436-442
ページ数7
ISBN(印刷版)9781479926268
DOI
出版ステータスPublished - 2013
イベント2013 6th IEEE/SICE International Symposium on System Integration, SII 2013 - Kobe, Japan
継続期間: 2013 12 152013 12 17

出版物シリーズ

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

Other

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

ASJC Scopus subject areas

  • 制御およびシステム工学

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