Simulation-based tools for evaluating underactuated hand designs

Daniel Aukes, Mark R. Cutkosky

Research output: Chapter in Book/Report/Conference proceedingConference contribution

5 Citations (Scopus)

Abstract

This paper presents a tool aimed at the design of compliant, under-actuated hands. The particular motivation is hands that will be used for an underwater robot to grasp a variety of objects, some of which may be delicate or slippery. The focus of the analysis is the problem of object acquisition. In comparison to many prior grasp analysis tools, the tool presented here models the dynamics of a hand, including actuation mechanisms, compliance and friction in an efficient formulation that permits one to evaluate variations in such quantities as phalange length, finger spacing, transmission ratios, and torsional joint stiffness when comparing hand designs. The analysis is demonstrated for a quasi-static object acquisition problem and leads to the computation of a vector space of three dimensional regions for which the hand will tend to center and stably grasp a compact object.

Original languageEnglish (US)
Title of host publication2013 IEEE International Conference on Robotics and Automation, ICRA 2013
Pages2067-2073
Number of pages7
DOIs
StatePublished - 2013
Externally publishedYes
Event2013 IEEE International Conference on Robotics and Automation, ICRA 2013 - Karlsruhe, Germany
Duration: May 6 2013May 10 2013

Other

Other2013 IEEE International Conference on Robotics and Automation, ICRA 2013
CountryGermany
CityKarlsruhe
Period5/6/135/10/13

Fingerprint

End effectors
Vector spaces
Stiffness
Robots
Friction
Compliance

ASJC Scopus subject areas

  • Software
  • Artificial Intelligence
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

Aukes, D., & Cutkosky, M. R. (2013). Simulation-based tools for evaluating underactuated hand designs. In 2013 IEEE International Conference on Robotics and Automation, ICRA 2013 (pp. 2067-2073). [6630854] https://doi.org/10.1109/ICRA.2013.6630854

Simulation-based tools for evaluating underactuated hand designs. / Aukes, Daniel; Cutkosky, Mark R.

2013 IEEE International Conference on Robotics and Automation, ICRA 2013. 2013. p. 2067-2073 6630854.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Aukes, D & Cutkosky, MR 2013, Simulation-based tools for evaluating underactuated hand designs. in 2013 IEEE International Conference on Robotics and Automation, ICRA 2013., 6630854, pp. 2067-2073, 2013 IEEE International Conference on Robotics and Automation, ICRA 2013, Karlsruhe, Germany, 5/6/13. https://doi.org/10.1109/ICRA.2013.6630854
Aukes D, Cutkosky MR. Simulation-based tools for evaluating underactuated hand designs. In 2013 IEEE International Conference on Robotics and Automation, ICRA 2013. 2013. p. 2067-2073. 6630854 https://doi.org/10.1109/ICRA.2013.6630854
Aukes, Daniel ; Cutkosky, Mark R. / Simulation-based tools for evaluating underactuated hand designs. 2013 IEEE International Conference on Robotics and Automation, ICRA 2013. 2013. pp. 2067-2073
@inproceedings{e326f1b4c71444e699d4c332575995ed,
title = "Simulation-based tools for evaluating underactuated hand designs",
abstract = "This paper presents a tool aimed at the design of compliant, under-actuated hands. The particular motivation is hands that will be used for an underwater robot to grasp a variety of objects, some of which may be delicate or slippery. The focus of the analysis is the problem of object acquisition. In comparison to many prior grasp analysis tools, the tool presented here models the dynamics of a hand, including actuation mechanisms, compliance and friction in an efficient formulation that permits one to evaluate variations in such quantities as phalange length, finger spacing, transmission ratios, and torsional joint stiffness when comparing hand designs. The analysis is demonstrated for a quasi-static object acquisition problem and leads to the computation of a vector space of three dimensional regions for which the hand will tend to center and stably grasp a compact object.",
author = "Daniel Aukes and Cutkosky, {Mark R.}",
year = "2013",
doi = "10.1109/ICRA.2013.6630854",
language = "English (US)",
isbn = "9781467356411",
pages = "2067--2073",
booktitle = "2013 IEEE International Conference on Robotics and Automation, ICRA 2013",

}

TY - GEN

T1 - Simulation-based tools for evaluating underactuated hand designs

AU - Aukes, Daniel

AU - Cutkosky, Mark R.

PY - 2013

Y1 - 2013

N2 - This paper presents a tool aimed at the design of compliant, under-actuated hands. The particular motivation is hands that will be used for an underwater robot to grasp a variety of objects, some of which may be delicate or slippery. The focus of the analysis is the problem of object acquisition. In comparison to many prior grasp analysis tools, the tool presented here models the dynamics of a hand, including actuation mechanisms, compliance and friction in an efficient formulation that permits one to evaluate variations in such quantities as phalange length, finger spacing, transmission ratios, and torsional joint stiffness when comparing hand designs. The analysis is demonstrated for a quasi-static object acquisition problem and leads to the computation of a vector space of three dimensional regions for which the hand will tend to center and stably grasp a compact object.

AB - This paper presents a tool aimed at the design of compliant, under-actuated hands. The particular motivation is hands that will be used for an underwater robot to grasp a variety of objects, some of which may be delicate or slippery. The focus of the analysis is the problem of object acquisition. In comparison to many prior grasp analysis tools, the tool presented here models the dynamics of a hand, including actuation mechanisms, compliance and friction in an efficient formulation that permits one to evaluate variations in such quantities as phalange length, finger spacing, transmission ratios, and torsional joint stiffness when comparing hand designs. The analysis is demonstrated for a quasi-static object acquisition problem and leads to the computation of a vector space of three dimensional regions for which the hand will tend to center and stably grasp a compact object.

UR - http://www.scopus.com/inward/record.url?scp=84887264489&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84887264489&partnerID=8YFLogxK

U2 - 10.1109/ICRA.2013.6630854

DO - 10.1109/ICRA.2013.6630854

M3 - Conference contribution

AN - SCOPUS:84887264489

SN - 9781467356411

SP - 2067

EP - 2073

BT - 2013 IEEE International Conference on Robotics and Automation, ICRA 2013

ER -