Underactuated robot hand for dual-arm manipulation

Kengo Yamaguchi; Yasuhisa Hirata; Kazuhiro Kosuge

IROS 2015poster30 citations

Underactuated robot hand for dual-arm manipulation

Kengo Yamaguchi, Yasuhisa Hirata, Kazuhiro Kosuge

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.

BibTeX

@inproceedings{iros2015_underactuatedrob,
  title = {Underactuated robot hand for dual-arm manipulation},
  author = {Kengo Yamaguchi and Yasuhisa Hirata and Kazuhiro Kosuge},
  booktitle = {IROS 2015},
  year = {2015}
}