The Infona portal uses cookies, i.e. strings of text saved by a browser on the user's device. The portal can access those files and use them to remember the user's data, such as their chosen settings (screen view, interface language, etc.), or their login data. By using the Infona portal the user accepts automatic saving and using this information for portal operation purposes. More information on the subject can be found in the Privacy Policy and Terms of Service. By closing this window the user confirms that they have read the information on cookie usage, and they accept the privacy policy and the way cookies are used by the portal. You can change the cookie settings in your browser.
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...
Dance has become compulsory in the physical education courses in Japan, recently. Especially for the creative dance, it is possible to cultivate capacities for expression and communication abilities. However, it is hard to presuppose the creativity and skill of creative dance for beginner level dancers without experience. This paper describes a novel supporting method for the beginners by using a...
In order to provide robots for a wide range of users, they must be easily programmable. This is addressed by various approaches of programming a robot by demonstration, where the user guides a robot through the task. We propose an approach that adapts a once demonstrated trajectory to a new situation. The system extracts the relevant reference frames using a weighting function. Then, the demonstrated...
Dexterous manipulation by multi-fingered robotics hands has been a research topic for more than thirty years. However, forming grasping closure and determination of fingertips forces has always been an issue due to related complexity. Will a robotic hand grasping be enhanced via learning from human grasping? There have been a number of attempts for that. This article is presenting a different approach,...
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...
In this paper, the estimation of the grasping torque of robotic forceps without the use of a force/torque sensor is discussed. To estimate the grasping torque when the robotic forceps driven by a rotary motor with a reduction gear grasps an object, a novel robust reaction torque observer is proposed. The robust reaction torque observer is developed according to the following steps. First, cancellation...
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...
This paper proposes a fabric wrapping method for robots, provides a description method that uses such target lines to describe the wrapping state between a piece of fabric and an object, and describes an offhand path generation method based on that description. This target-line based description method can be used to generate wrapping instructions for curved and planar objects more easily than can...
In grasping, one fundamental question is to ask how well a grasp can resist external disturbance. Canonically, the solution of this question lies in calculating the set of wrenches that can be generated by the grasp assuming some limitation of the hand and measurement of the extreme point in some direction of that set. Using wrenches comes with two issues: the dependency on the choice of the origin...
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...
Set the date range to filter the displayed results. You can set a starting date, ending date or both. You can enter the dates manually or choose them from the calendar.