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

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

Research output: Chapter in Book/Report/Conference proceedingConference 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 languageEnglish (US)
Title of host publicationIROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages3207-3212
Number of pages6
ISBN (Electronic)9781479969340
DOIs
StatePublished - Oct 31 2014
Event2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014 - Chicago, United States
Duration: Sep 14 2014Sep 18 2014

Publication series

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

Conference

Conference2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014
Country/TerritoryUnited States
CityChicago
Period9/14/149/18/14

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

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