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- Publisher Website: 10.1109/IROS.2015.7353782
- Scopus: eid_2-s2.0-84958172362
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Conference Paper: Underactuated robot hand for dual-arm manipulation
| Title | Underactuated robot hand for dual-arm manipulation |
|---|---|
| Authors | |
| Issue Date | 2015 |
| Citation | IEEE International Conference on Intelligent Robots and Systems, 2015, v. 2015-December, p. 2937-2942 How to Cite? |
| Abstract | In this paper, we propose a novel robot hand called uGRIPP (Underactuated Gripper for Power and Precision Grasp) which has underactuated fingers for dual-arm manipulation tasks. A newly designed underactuated linkage enables the robot hand to achieve not only an adaptive grasp and a pinch grasp, but also manipulation by a palm of the hand. We introduce performance of the proposed linkage by a static analysis. A prototype of the robot hand which has the proposed linkage as fingers was developed. We conducted handling experiments by using the robot hand. |
| Persistent Identifier | http://hdl.handle.net/10722/302941 |
| ISSN | 2023 SCImago Journal Rankings: 1.094 |
| DC Field | Value | Language |
|---|---|---|
| dc.contributor.author | Yamaguchi, Kengo | - |
| dc.contributor.author | Hirata, Yasuhisa | - |
| dc.contributor.author | Kosuge, Kazuhiro | - |
| dc.date.accessioned | 2021-09-07T08:42:53Z | - |
| dc.date.available | 2021-09-07T08:42:53Z | - |
| dc.date.issued | 2015 | - |
| dc.identifier.citation | IEEE International Conference on Intelligent Robots and Systems, 2015, v. 2015-December, p. 2937-2942 | - |
| dc.identifier.issn | 2153-0858 | - |
| dc.identifier.uri | http://hdl.handle.net/10722/302941 | - |
| dc.description.abstract | In this paper, we propose a novel robot hand called uGRIPP (Underactuated Gripper for Power and Precision Grasp) which has underactuated fingers for dual-arm manipulation tasks. A newly designed underactuated linkage enables the robot hand to achieve not only an adaptive grasp and a pinch grasp, but also manipulation by a palm of the hand. We introduce performance of the proposed linkage by a static analysis. A prototype of the robot hand which has the proposed linkage as fingers was developed. We conducted handling experiments by using the robot hand. | - |
| dc.language | eng | - |
| dc.relation.ispartof | IEEE International Conference on Intelligent Robots and Systems | - |
| dc.title | Underactuated robot hand for dual-arm manipulation | - |
| dc.type | Conference_Paper | - |
| dc.description.nature | link_to_subscribed_fulltext | - |
| dc.identifier.doi | 10.1109/IROS.2015.7353782 | - |
| dc.identifier.scopus | eid_2-s2.0-84958172362 | - |
| dc.identifier.volume | 2015-December | - |
| dc.identifier.spage | 2937 | - |
| dc.identifier.epage | 2942 | - |
| dc.identifier.eissn | 2153-0866 | - |