TY - GEN
T1 - Task-specific grasp selection for underactuated hands
AU - Mavrogiannis, Christoforos I.
AU - Bechlioulis, Charalampos P.
AU - Liarokapis, Minas V.
AU - Kyriakopoulos, Kostas J.
N1 - Publisher Copyright:
© 2014 IEEE.
PY - 2014/9/22
Y1 - 2014/9/22
N2 - In this paper, we propose an optimization scheme for deriving task-specific force closure grasps for underactuated robot hands. Motivated by recent neuroscientific studies on the human grasping behavior, a novel grasp strategy is built upon past analysis regarding the task-specificity of human grasps, that also complies with the recent soft synergy model of underactuated hands. Our scheme determines an efficient force closure grasp (i.e., configuration and contact points/forces) with a posture compatible with the desired task, taking into consideration the mechanical and geometric limitations imposed by the design of the hand and the object shape. The efficiency of the algorithm is verified through simulated paradigms on a hypothetical underactuated hand with the kinematic model of the DLR/HIT II five fingered robot hand.
AB - In this paper, we propose an optimization scheme for deriving task-specific force closure grasps for underactuated robot hands. Motivated by recent neuroscientific studies on the human grasping behavior, a novel grasp strategy is built upon past analysis regarding the task-specificity of human grasps, that also complies with the recent soft synergy model of underactuated hands. Our scheme determines an efficient force closure grasp (i.e., configuration and contact points/forces) with a posture compatible with the desired task, taking into consideration the mechanical and geometric limitations imposed by the design of the hand and the object shape. The efficiency of the algorithm is verified through simulated paradigms on a hypothetical underactuated hand with the kinematic model of the DLR/HIT II five fingered robot hand.
UR - http://www.scopus.com/inward/record.url?scp=84929224557&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84929224557&partnerID=8YFLogxK
U2 - 10.1109/ICRA.2014.6907391
DO - 10.1109/ICRA.2014.6907391
M3 - Conference contribution
AN - SCOPUS:84929224557
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 3676
EP - 3681
BT - Proceedings - IEEE International Conference on Robotics and Automation
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2014 IEEE International Conference on Robotics and Automation, ICRA 2014
Y2 - 31 May 2014 through 7 June 2014
ER -