IEEE T-RO 15-0652 - GR2 gripper (Final version).pdf (1.66 MB)
The GR2 gripper: an underactuated hand for open-loop in-hand planar manipulation
journal contribution
posted on 2023-06-09, 01:04 authored by Nicolas Rojas, Raymond R Ma, Aaron M DollarPerforming 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 particularities 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.
History
Publication status
- Published
File Version
- Accepted version
Journal
IEEE Transactions on RoboticsISSN
1552-3098Publisher
Institute of Electrical and Electronics EngineersExternal DOI
Issue
3Volume
32Page range
763-770Department affiliated with
- Engineering and Design Publications
Full text available
- Yes
Peer reviewed?
- Yes
Legacy Posted Date
2016-04-29First Open Access (FOA) Date
2016-10-13First Compliant Deposit (FCD) Date
2016-04-29Usage metrics
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