Complex manipulation with a simple robotic hand through contact breaking and caging-Reference-Cited by-同舟云学术

Complex manipulation with a simple robotic hand through contact breaking and caging

Published:2021-05-12 Issue:54 Volume:6 Page:
ISSN:2470-9476
Container-title:Science Robotics
language:en
Short-container-title:Sci. Robot.

Author:

Bircher Walter G.¹^ORCID,Morgan Andrew S.¹^ORCID,Dollar Aaron M.¹^ORCID

Affiliation:

1. Department of Mechanical Engineering and Materials Science, Yale University, New Haven, CT, USA.

Abstract

A simple robotic hand leverages sliding, rolling, and contact breaking of objects and caging for highly dexterous manipulation.

Funder

National Science Foundation

Publisher

American Association for the Advancement of Science (AAAS)

Subject

Artificial Intelligence,Control and Optimization,Computer Science Applications,Mechanical Engineering

Reference48 articles.

1. G. Vassura A. Bicchi Whole-hand manipulation: Design of an articulated hand exploiting all its parts to increase dexterity in Robots and Biological Systems: Towards a New Bionics? (Springer 1993) pp. 165–177.

2. Kinematic and Force Analysis of Articulated Mechanical Hands

3. Analysis of Multifingered Hands

4. D. L. Brock Enhancing the dexterity of a robot hand using controlled slip in Proceedings of the 1988 IEEE International Conference on Robotics and Automation (IEEE 1988) pp. 249–251.

5. J. C. Trinkle A quasi-static analysis of dextrous manipulation with sliding and rolling contacts in Proceedings of the 1989 International Conference on Robotics and Automation (IEEE 1989) pp. 788–793.

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