Data-driven optimization for underactuated robotic hands

Ciocarlie, Matei; Allen, Peter K.

Passively adaptive and underactuated robotic hands have shown the potential to achieve reliable grasping in unstructured environments without expensive mechanisms or sensors. Instead of complex run-time algorithms, such hands use design-time analysis to improve performance for a wide range of tasks. Along these directions, we present an optimization framework for underactuated compliant hands. Our approach uses a pre-defined set of grasps in a quasistatic equilibrium formulation to compute the actuation mechanism design parameters that provide optimal performance. We apply our method to a class of tendon-actuated hands; for the simplified design of a two-fingered gripper, we show how a global optimum for the design optimization problem can be computed. We have implemented the results of this analysis in the construction of a gripper prototype, capable of a wide range of grasping tasks over a variety of objects.



Also Published In

2010 IEEE International Conference on Robotics and Automation

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Academic Units
Computer Science
Published Here
October 25, 2012