NDLI: Data-driven optimization for underactuated robotic hands

Content Provider	IEEE Xplore Digital Library
Author	Ciocarlie, M. Allen, P.
Copyright Year	2010
Description	Author affiliation: Dept. of Computer Science, Columbia University, NY, USA (Ciocarlie, M.; Allen, P.)
Abstract	Passively adaptive and underactuated robotic hands have shown the potential to achieve reliable grasping in unstructured environments without expensive mechanisms or sensors. Instead of complex run-time algorithms, such hands use design-time analysis to improve performance for a wide range of tasks. Along these directions, we present an optimization framework for underactuated compliant hands. Our approach uses a pre-defined set of grasps in a quasistatic equilibrium formulation to compute the actuation mechanism design parameters that provide optimal performance. We apply our method to a class of tendon-actuated hands; for the simplified design of a two-fingered gripper, we show how a global optimum for the design optimization problem can be computed. We have implemented the results of this analysis in the construction of a gripper prototype, capable of a wide range of grasping tasks over a variety of objects.
Starting Page	1292
Ending Page	1299
File Size	1733140
Page Count	8
File Format	PDF
ISBN	9781424450381
ISSN	10504729
DOI	10.1109/ROBOT.2010.5509793
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-05-03
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Grasping Grippers Robotics and automation Robot sensing systems Design optimization Algorithm design and analysis Performance analysis Actuators Tendons Couplings
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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