Development of robotic fingertip morphology for enhanced manipulation stability

研究成果: Conference contribution

5 被引用数 (Scopus)

抄録

This study aims to develop a fingertip in order to improve the manipulation performance of posture interpolation control for a multifingered robot hand. Increasing the contact area between the fingertips and object is one solution for improving grasping and manipulation stability. A reasonable fingertip shape design and material selection can increase the contact area. In this paper, we compare an anthropomorphic shape to a cylindrical body with a semispherical tip. In order to test the practical property such as contact area size of our proposed fingertip, a pressure experiment was conducted for comparing the two fingertip shapes under different workloads. Finally, we installed the fingertips on a commercial available robot hand Allegro Hand. Two tasks were conducted for evaluating our proposed fingertip with posture interpolation control. The results show that our proposed fingertip could improve manipulation performance by comparing the success rate in both the experiments.

本文言語English
ホスト出版物のタイトル2016 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2016
出版社Institute of Electrical and Electronics Engineers Inc.
ページ25-30
ページ数6
ISBN(電子版)9781509020652
DOI
出版ステータスPublished - 2016 9 26
イベント2016 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2016 - Banff, Canada
継続期間: 2016 7 122016 7 15

出版物シリーズ

名前IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
2016-September

Other

Other2016 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2016
国/地域Canada
CityBanff
Period16/7/1216/7/15

ASJC Scopus subject areas

  • 電子工学および電気工学
  • 制御およびシステム工学
  • コンピュータ サイエンスの応用
  • ソフトウェア

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