TY - CONF T1 - Velvet Fingers: Grasp Planning and Execution for an Underactuated Gripper with Active Surfaces T2 - 2014 IEEE International Conference on Robotics and Automation Y1 - 2014 A1 - R. Krug A1 - T. Stoyanov A1 - M. Bonilla A1 - V. Tincani A1 - N. Vaskeviciusz A1 - G Fantoni A1 - A. Birkz A1 - A. Lilienthal A1 - A. Bicchi KW - Haptics KW - Robotics AB -
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.
JF - 2014 IEEE International Conference on Robotics and Automation PB - IEEE CY - Hong Kong, May 31 2014-June 7 2014 UR - http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=6907390 U1 -Roblog
ER -