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This paper describes the conditions that a snake robot must meet in order to be able to grasp an object with a circular cross-section. The type of grasp is of the enveloping type, and the conditions to guarantee a grasp with form-closure using three contacts, the minimum number of contacts possible, are presented. The first contribution of this paper is the description of the conditions where form-closure...
This paper proposes an algorithm that estimates a reaction torque loading the grasping jaws of wire-actuated robotic forceps and compensates for subsequent wire elongation. The algorithm is constructed by the combination of the Reaction Force Observer (RFOB) and an optimization problem based on a gradient descent method. The conventional RFOB is used to estimate an external torque that includes not...
For biped pole-climbing robots (BiPCRs), footholds, indicating a sequence of discrete gripping points from the start to the goal, are necessary for travelling in trussed environments. Graspable region in each climbing cycle is the valuable priori knowledge for consideration of selecting specific grasping point. However, how to evaluate all the grasps within the graspable region so as to provide a...
In robotic application, flexible actuator is the end terminal parts. Rigid actuators are accurate but have poor security and practicability. This paper designed a new type of pneumatic dexterous hand — flexible three-fingered hand. The flexible three-fingered hand grasping pattern can be divided into griping, grasping and holding. The pattern classification of flexible three-fingered hand is designed...
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...
In order to perform useful tasks, a service robot needs to manipulate objects in its environment. In this paper, we propose a method for experimental evaluation of the suitability of a robotic hand for grasping tasks in service robotics. The method is applied to the Schunk 5-Finger Gripping Hand, which is a mechatronic gripper designed for service robots. During evaluation, it is shown, that it is...
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