4 accepted papers
This paper introduces Model Q-II, an enhanced underactuated robotic hand designed to improve dexterous manipulation through expanded grasping modes and manipulation primitives. The Model Q-II incorporates tripod and enhanced power grasping modes, achieving increased versatility without adding additi
Robot manipulation today generally focuses on motions exclusively with a robot arm or a dexterous hand, but usually not a combination of both. However, complex manipulation tasks can require coordinating arm and hand motions that leverage capabilities of both, much like the coordinated arm and hand…
Rotating a grasped object about all three spatial axes is challenging, because kinematically redundant robot hands require complex control schemes for within-hand rotations, and simple parallel grippers require inefficient whole arm motions. We present a novel 3-finger robot hand design inspired by…
Grasping can be conceptualized as the ability of an end-effector to temporarily attach or fixture an object to a manipulator-constraining all motion of the workpiece with respect to the end-effector's base frame. This seemingly simplistic action often requires excessive sensing, computation, or cont…