On the form-closure capability of robotic underactuated hands

9th International Conference on Control, Automation, Robotics and Vision, 2006, ICARCV '06

Volumn , Issue , 2006, Pages

  Bégoc, Vincent ^a   Durand, Claude ^a   Krut, Sébastien ^b   Dombre, Etienne ^b   Pierrot, François ^b  

^a B+ Development   (France)

^b LIRMM   (France)

Author keywords

Form closure; Non backdrivability; Robotic hand; Underactuation

Indexed keywords

ACTUATORS; COMPUTATIONAL GEOMETRY; CONSTRAINT THEORY; GRIPPERS; OPTIMIZATION;

FORM-CLOSURE CAPABILITY; PARALLEL-JAW GRIPPERS; ROBOTIC UNDERACTUATED HANDS; TRANSMISSION MECHANISMS;

END EFFECTORS;

EID: 34547162817     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ICARCV.2006.345424     Document Type: Conference Paper

References (18)

1. S. C. Jacobsen, E. K. Iversen, D. F. Knutti, R. T. Johnson, and K. B. Biggers, "Design of the UTAH/MIT dextrous hand," in Proc of ICRA86: IEEE International Conference on Robotics and Automation, San Francisco, CA, USA, 1986, pp. 1520-1532.
2. J. K. Salisbury and J. J. Craig, "Articulated hands: Force control and kinematic issues," The International Journal of Robotics Research, Vol. 1, No. 1, pp. 4-17, 1982.
3. G. Bekey, R. Tomovic, and I. Zeljkovic, "Control architecture for the Belgrade/USC Hand," in Dextrous Robot Hands, S.T. Venkataraman and T. Iberall (Ed.), Springer-Verlag, 1989.
4. J. Butterfass, M. Grebenstein, H. Liu, and G. Hirzinger, "DLR-hand II: next generation of a dextrous robot hand," in proc. of ICRA 2001: IEEE International Conference on Robotics and Automation, Seoul, Korea, May 1-26, 2001, pp. 109-114.
5. W.T. Townsend, "The BarrettHand grasper - programmably flexible part handling and assembly," Industrial Robot: An International Journal, MCB Uiversity Press, Vol. 27, No. 3, pp. 181-188, 2000.
6. B. Massa, S. Roccella, M. C. Carrozza, and P. Dario, "Design and Development of an Underactuated Prosthetic Hand," in Proc Of ICRA2002: IEEE International Conference on Robotics & Automation, Washington, DC, May 2002, pp. 3374-3379.
7. T. Laliberté, L. Birglen, and C. Gosselin, "Underactuation in Robotic Grasping Hands," Japanese Journal of Machine Intelligence and Robotic Control, Special Issue on Underactuated Robots, pp. 77-87, Vol. 4, No. 3, September 2002.
8. L. Birglen and C. Gosselin, "Kinetostatic analysis of underactuated fingers," IEEE Transactions on Robotics and Automation, vol. 20, no. 2, pp. 211-221, April 2004.
9. Birglen, L. and Gosselin, C. M., "On the Force Capability of Underactuated Fingers," in Proc. Of ICRA2003: IEEE International Conference on Robotics & Automation, Taipei, Taiwan, September, 2003.
10. L. Birglen, "Analysis and Control of Underactuated Robotic Hands," Thesis, Robotics Laboratory, Laval University, Quebec, Canada, 2004.
11. L. Minzhou, M. Tao, W. Xiaohua, and Y. Yong, "Grasp Characteristics of An Underactuated Robot Hand," in Proc. Of ICRA2004: IEEE International Conference on Robotics & Automation, New Orleans, LA, April 2004, pp. 2236-2241.
12. R. Olfati-Saber, "Nonlinear control of underactuated mechanical systems with application to robotics and aerospace vehicles," Thesis, Department of Electrical Engineering and Computer Science, Massachusetts Institute of Technology, Cambridge, MA, February 2001.
13. Hirose S., "Connected Differential Mechanism and its Applications", in Proc. of Int. Conf. of Advanced Robotics, Tokyo, Japan, September 1985.
14. S. Krut, "A force-isotropic underactuated finger," in Proc. of ICRA2005: IEEE International Conference on Robotics & Automation, Barcelona, Spain, April 2005, pp. 2325-2330.
15. A. Bicchi and V. Kumar. "Robotic Grasping and Manipulation." In S. Nicosia, B. Siciliano, A. Bicchi, and P. Valigi (eds.), editors, Ramsete: Articulated and mobile robots for services and Technology, volume 270, chapter 4, pages 55-74. Springer-Verlag, Berlin Heidelberg, Germany, 2001.
16. E. Rimon and J. Burdick, "On force and form closure for multiple finger grasps," in Proc. Of ICRA1996: IEEE International Conference on Robotics & Automation, pages 1795-1800, Minneapolis, May 1996.
17. F.Reuleaux, Kinematics of machinery, New York: Dover, 1963. First published in German, 1875.
18. P. Somov, "Über Gebiete von Schraubengeschwindigkeiten eines starren Körpers bei verschiedener Zahl von Stützflächen," Zeitschrift für Mathematik und Physik, vol. 45, 1900.