Name
Abstract | ||
|---|---|---|
The demands of mobile manipulation are leading to a new class of multi-fingered hands with a premium on being lightweight and robust as well as being able to grasp and perform basic manipulations with a wide range of objects. A promising approach to addressing these goals is to use compliant, underactuated hands with selectively lockable degrees of freedom. This paper presents the design of one such hand that combines series-elastic actuation and electrostatic braking at the joints. A numerical analysis shows how the maximum pullout force varies as a function of kinematic parameters, spring forces at the joints and brake torques. |
Year | DOI | Venue |
|---|---|---|
2012 | 10.1109/ICRA.2012.6224738 | ICRA |
Keywords | Field | DocType |
actuators,mobile manipulator,brakes,elasticity,degree of freedom,mobile robots,electrostatics,numerical analysis,friction,force | Brake,Kinematics,Torque,GRASP,Control theory,Control engineering,Engineering,Underactuation,Mobile robot,Manipulator kinematics,Actuator | Conference |
Volume | Issue | ISSN |
2012 | 1 | 1050-4729 E-ISBN : 978-1-4673-1404-6 |
ISBN | Citations | PageRank |
978-1-4673-1404-6 | 17 | 1.12 |
References | Authors | |
8 | 5 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Daniel Aukes | 1 | 68 | 6.50 |
| Susan Kim | 2 | 17 | 1.12 |
| Pablo Garcia | 3 | 93 | 6.98 |
| Aaron Edsinger | 4 | 238 | 16.47 |
| Mark R. Cutkosky | 5 | 3132 | 484.31 |