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Dexterous Manipulation

Video: ICRA 2012

Underactuated robot hands are effective at grasping objects of uncertain size, shape, or location, because they are free to passively adapt to the shape of objects they contact. This reduces the need for precise sensing and control at each joint. Hands having a small number of actuators are simpler to manufacture and ruggedize. At present, underactuated hands are used for immobilizing objects in fixed grasps, rather than dexterous within-hand manipulation. The barriers to developing simpler dexterous hands are partially practical issues of machine design, as it is clearly difficult to perform complex manipulation tasks with a limited set of actuators. However, the lack of complete mathematical tools for predicting underactuated hand behavior also hampers progress in this area.

We have developed a new hand design for the DARPA ARM-H program, in collaboration with iRobot Corporation and researchers at Harvard University. This hand is underactuated, but retains critical in-hand manipulation capabilities such as reorienting grasped objects, and picking up small objects such as keys and pens. Of the three designs submitted to DARPA, our hand was selected for distribution to all participants in the DARPA ARM-S program.

Sample Publications:

Lael U. Odhner and Aaron M. Dollar
Dexterous Manipulation with Underactuated Elastic Hands, proceedings of the 2011 IEEE International Conference on Robotics and Automation (ICRA), Shanghai, China, May 9-13, 2011.

Lael U. Odhner, Raymond R. Ma, and Aaron M. Dollar
Precision grasping and manipulation of small objects from flat surfaces using underactuated fingers, 2012 IEEE International Conference on Robotics and Automation (ICRA), pp.2830-2835, 14-18 May 2012

All Dexterous Manipulation Publications >>
© Copyright 2012.