TY - GEN
T1 - Open-source, affordable, modular, light-weight, underactuated robot hands
AU - Zisimatos, Agisilaos G.
AU - Liarokapis, Minas V.
AU - Mavrogiannis, Christoforos I.
AU - Kyriakopoulos, Kostas J.
N1 - Publisher Copyright:
© 2014 IEEE.
PY - 2014/10/31
Y1 - 2014/10/31
N2 - 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.
AB - 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.
KW - Affordable Robots
KW - Open Source Design
KW - Underactuated Robot Hands
UR - http://www.scopus.com/inward/record.url?scp=84911464371&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84911464371&partnerID=8YFLogxK
U2 - 10.1109/IROS.2014.6943007
DO - 10.1109/IROS.2014.6943007
M3 - Conference contribution
AN - SCOPUS:84911464371
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 3207
EP - 3212
BT - IROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014
Y2 - 14 September 2014 through 18 September 2014
ER -