Open-source, affordable, modular, light-weight, underactuated robot hands

Agisilaos G. Zisimatos; Minas V. Liarokapis; Christoforos I. Mavrogiannis; Kostas J. Kyriakopoulos

doi:10.1109/IROS.2014.6943007

Open-source, affordable, modular, light-weight, underactuated robot hands

Agisilaos G. Zisimatos, Minas V. Liarokapis, Christoforos I. Mavrogiannis, Kostas J. Kyriakopoulos

Electrical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

In this paper we present a series of design directions for the development of affordable, modular, light-weight, intrinsically-compliant, underactuated robot hands, that can be easily reproduced using off-the-shelf materials. The proposed robot hands, efficiently grasp a series of everyday life objects and are considered to be general purpose, as they can be used for various applications. The efficiency of the proposed robot hands has been experimentally validated through a series of experimental paradigms, involving: grasping of multiple everyday life objects with different geometries, myoelectric (EMG) control of the robot hands in grasping tasks, preliminary results on a grasping capable quadrotor and autonomous grasp planning under object position and shape uncertainties.

Original language	English (US)
Title of host publication	IROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	3207-3212
Number of pages	6
ISBN (Electronic)	9781479969340
DOIs	https://doi.org/10.1109/IROS.2014.6943007
State	Published - Oct 31 2014
Event	2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014 - Chicago, United States Duration: Sep 14 2014 → Sep 18 2014

Publication series

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

Conference

Conference	2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014
Country/Territory	United States
City	Chicago
Period	9/14/14 → 9/18/14

Keywords

Affordable Robots
Open Source Design
Underactuated Robot Hands

ASJC Scopus subject areas

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

Access to Document

10.1109/IROS.2014.6943007

Cite this

Zisimatos, A. G., Liarokapis, M. V., Mavrogiannis, C. I., & Kyriakopoulos, K. J. (2014). Open-source, affordable, modular, light-weight, underactuated robot hands. In IROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems (pp. 3207-3212). Article 6943007 (IEEE International Conference on Intelligent Robots and Systems). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IROS.2014.6943007

Open-source, affordable, modular, light-weight, underactuated robot hands. / Zisimatos, Agisilaos G.; Liarokapis, Minas V.; Mavrogiannis, Christoforos I. et al.
IROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems. Institute of Electrical and Electronics Engineers Inc., 2014. p. 3207-3212 6943007 (IEEE International Conference on Intelligent Robots and Systems).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Zisimatos, AG, Liarokapis, MV, Mavrogiannis, CI & Kyriakopoulos, KJ 2014, Open-source, affordable, modular, light-weight, underactuated robot hands. in IROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems., 6943007, IEEE International Conference on Intelligent Robots and Systems, Institute of Electrical and Electronics Engineers Inc., pp. 3207-3212, 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014, Chicago, United States, 9/14/14. https://doi.org/10.1109/IROS.2014.6943007

Zisimatos AG, Liarokapis MV, Mavrogiannis CI, Kyriakopoulos KJ. Open-source, affordable, modular, light-weight, underactuated robot hands. In IROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems. Institute of Electrical and Electronics Engineers Inc. 2014. p. 3207-3212. 6943007. (IEEE International Conference on Intelligent Robots and Systems). doi: 10.1109/IROS.2014.6943007

Zisimatos, Agisilaos G. ; Liarokapis, Minas V. ; Mavrogiannis, Christoforos I. et al. / Open-source, affordable, modular, light-weight, underactuated robot hands. IROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems. Institute of Electrical and Electronics Engineers Inc., 2014. pp. 3207-3212 (IEEE International Conference on Intelligent Robots and Systems).

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abstract = "In this paper we present a series of design directions for the development of affordable, modular, light-weight, intrinsically-compliant, underactuated robot hands, that can be easily reproduced using off-the-shelf materials. The proposed robot hands, efficiently grasp a series of everyday life objects and are considered to be general purpose, as they can be used for various applications. The efficiency of the proposed robot hands has been experimentally validated through a series of experimental paradigms, involving: grasping of multiple everyday life objects with different geometries, myoelectric (EMG) control of the robot hands in grasping tasks, preliminary results on a grasping capable quadrotor and autonomous grasp planning under object position and shape uncertainties.",

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Open-source, affordable, modular, light-weight, underactuated robot hands

Abstract

Publication series

Conference

Keywords

ASJC Scopus subject areas

Access to Document

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Cite this