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The GR2 gripper: an underactuated hand for open-loop in-hand planar manipulation
Abstract
Performing dexterous manipulation of unknown objects with robot grippers without using high-fidelity contact sensors, active/sliding surfaces, or a priori workspace exploration is still an open problem in robot manipulation and a necessity for many robotics applications. In this paper we present a two-fingered gripper topology that enables an enhanced predefined in-hand manipulation primitive controlled without knowing the size, shape, or other particulars of the grasped object. The in-hand manipulation behavior, namely, the planar manipulation of the grasped body, is predefined thanks to a simple hybrid low-level control scheme and has an increased range of motion due to the introduction of an elastic pivot joint between the two fingers. Experimental results with a prototype clearly show the advantages and benefits of the proposed concept. Given the generality of the topology and in-hand manipulation principle, researchers and designers working on multiple areas of robotics can benefit from the findings- Journal Article
- dexterous manipulators
- grippers
- manipulator kinematics
- motion control
- GR2 gripper
- dexterous manipulation
- elastic pivot joint
- hybrid low-level control scheme
- motion range
- open-loop in-hand planar manipulation
- predefined in-hand manipulation primitive control enhancement
- robot grippers
- two-fingered gripper topology
- underactuated hand
- Couplings
- Grasping
- Grippers
- Kinematics
- Robot sensing systems
- Topology
- Dexterous hands
- gripper design
- in-hand manipulation
- robot grippers
- Industrial Engineering & Automation
- 0801 Artificial Intelligence and Image Processing
- 0906 Electrical and Electronic Engineering
- 0913 Mechanical Engineering