TY - GEN
T1 - Task specific robust grasping for multifingered robot hands
AU - Boutselis, George I.
AU - Bechlioulis, Charalampos P.
AU - Liarokapis, Minas V.
AU - Kyriakopoulos, Kostas J.
N1 - Publisher Copyright:
© 2014 IEEE.
PY - 2014/10/31
Y1 - 2014/10/31
N2 - In this paper, we propose a complete methodology for deriving task-specific force closure grasps for multifingered robot hands under a wide range of uncertainties. Given a finite set of external disturbances representing the task to be executed, the concept of Q distance is introduced in a novel way to determine an efficient grasp with a task compatible hand posture (i.e., configuration and contact points). Our approach takes, also, into consideration the mechanical and geometric limitations imposed by the robotic hand design and the object to be grasped. In addition, incorporating our recent results on grasping [1], the ability of the robot hand to exert the required contact forces is maximized and robustness against positioning inaccuracies and object uncertainties is established. Finally, the efficiency of our approach is verified through an experimental study on the 15 DoF DLR/HIT II robotic hand attached at the end effector of the 7 DoF Mitsubishi PA10 robotic manipulator.
AB - In this paper, we propose a complete methodology for deriving task-specific force closure grasps for multifingered robot hands under a wide range of uncertainties. Given a finite set of external disturbances representing the task to be executed, the concept of Q distance is introduced in a novel way to determine an efficient grasp with a task compatible hand posture (i.e., configuration and contact points). Our approach takes, also, into consideration the mechanical and geometric limitations imposed by the robotic hand design and the object to be grasped. In addition, incorporating our recent results on grasping [1], the ability of the robot hand to exert the required contact forces is maximized and robustness against positioning inaccuracies and object uncertainties is established. Finally, the efficiency of our approach is verified through an experimental study on the 15 DoF DLR/HIT II robotic hand attached at the end effector of the 7 DoF Mitsubishi PA10 robotic manipulator.
UR - http://www.scopus.com/inward/record.url?scp=84911480288&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84911480288&partnerID=8YFLogxK
U2 - 10.1109/IROS.2014.6942660
DO - 10.1109/IROS.2014.6942660
M3 - Conference contribution
AN - SCOPUS:84911480288
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 858
EP - 863
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 -