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AR
2005

Towards grasping in unstructured environments: grasper compliance and configuration optimization

13 years 11 months ago
Towards grasping in unstructured environments: grasper compliance and configuration optimization
This paper examines the role of grasper compliance and kinematic configuration in environments where object size and location may not be well known. A grasper consisting of a pair of two-link planar fingers with compliant revolute joints was simulated as it passively deflected during contact with a target object. The kinematic configuration and joint stiffness values of the grasper were varied in order to maximize successful grasp range and minimize contact forces for a wide range of target object size. Joint rest angles around 25
Aaron M. Dollar, Robert D. Howe
Added 15 Dec 2010
Updated 15 Dec 2010
Type Journal
Year 2005
Where AR
Authors Aaron M. Dollar, Robert D. Howe
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