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This paper presents a minimalist, four-finger hand comprised of two pairs of tendon-driven, underactuated fingers decoupled by an independent, central, rotating axis. This mechanical configuration allows for finger-gaiting while also retaining the passive adaptability and other capabilities of the underactuated finger pairs. As a result, the hand, requiring only four actuators, is capable of a unique...
This video demonstrates the use of an underactuated robotic hand modified for the flip-and-pinch task to pick up thin objects from a table surface. Though well-suited for power-grasping, underactuated hands have difficulty with pinch-grasping and precision motions. We introduce a repeatable and robust method by which an underactuated hand flips thin objects off the table into a stable pinch grasp...
Based on multiple description coding, the robust multiple description scalar quantizer (RMDSQ) was introduced to combat both packet losses and bit errors over heterogeneous networks. In the RMDSQ, the residual information in the description with bit errors is utilized to achieve graceful performance degradation with the help of the correct description. Exhaustive search and the genetic algorithm were...
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