01718nas a2200241 4500008003900000245009900039210006900138260004500207300001600252520097600268653001201244653001301256100001201269700001601281700001501297700001501312700002001327700001501347700001301362700001801375700001501393856006801408 2014 d00aVelvet Fingers: Grasp Planning and Execution for an Underactuated Gripper with Active Surfaces0 aVelvet Fingers Grasp Planning and Execution for an Underactuated aHong Kong, May 31 2014-June 7 2014bIEEE a3669 - 36753 a
In this work we tackle the problem of planning grasps for an underactuated gripper which enable it to retrieve target objects from a cluttered environment. Furthermore, we investigate how additional manipulation capabilities of the gripping device, provided by active surfaces on the inside of the fingers, can lead to performance improvement in the grasp execution process. To this end, we employ a simple strategy, in which the target object is `pulled-in' towards the palm during grasping which results in firm enveloping grasps. We show the effectiveness of the suggested methods by means of experiments conducted in a real-world scenario.
10aHaptics10aRobotics1 aKrug, R1 aStoyanov, T1 aBonilla, M1 aTincani, V1 aVaskeviciusz, N1 aFantoni, G1 aBirkz, A1 aLilienthal, A1 aBicchi, A. uhttp://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=6907390