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Grasp analysis using deformable fingers

Matei Ciocarlie; Andrew T. Miller; Peter K. Allen

Title:
Grasp analysis using deformable fingers
Author(s):
Ciocarlie, Matei
Miller, Andrew T.
Allen, Peter K.
Date:
Type:
Articles
Department:
Computer Science
Permanent URL:
Book/Journal Title:
2005 IEEE/RSJ International Conference on Intelligent Robots and Systems Edmonton, AB, Canada, 2-6 August 2005
Publisher:
IEEE
Publisher Location:
Piscataway, N.J.
Abstract:
The human hand is unrivaled in its ability to grasp and manipulate objects, but we still do not understand all of its complexities. One benefit it has over traditional robot hands is the fact that our fingers conform to a grasped object's shape, giving rise to larger contact areas and the ability to apply larger frictional forces. In this paper, we demonstrate how we have extended our simulation and analysis system with finite element modeling to allow us to evaluate these complex contact types. We also propose a new contact model that better accounts for the deformations and show how grasp quality is affected. This work is part of a larger project to understand the benefits the human hand has in grasping.
Subject(s):
Robotics
Publisher DOI:
http://dx.doi.org/10.1109/IROS.2005.1545525
Item views:
78
Metadata:
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