Friedl, Werner and Höppner, Hannes and Schmidt, Florian and Roa Garzon, Máximo Alejandro and Grebenstein, Markus (2018) CLASH: Compliant Low cost Antagonistic Servo Hands. In: 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2018), 2018-10-01 - 2018-10-05, Madrid, Spain. doi: 10.1109/IROS.2018.8593903. ISBN 978-153868094-0. ISSN 2153-0858.
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Abstract
This paper presents the first two members of the new generation of CLASH hands, which exploit low cost actuation and rapid prototyping to create antagonistic modular and lightweight hands and grippers. The hands Approach the robustness of the DLR Awiwi hand with a much lower complexity and cost. To reduce the number of required actuators, a differential coupling mechanism for underactuated fingers was developed, along with a new mechanism that uses variable stiffness actuation in order to increase the workspace of underactuated fingers. The hands provide a research platform for both hand-in-hand and robotic grasping. Design aspects are discussed, and an initial experimental validation verifies the hands’ performance
Item URL in elib: | https://elib.dlr.de/124853/ | ||||||||||||||||||||||||
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Document Type: | Conference or Workshop Item (Speech, Poster) | ||||||||||||||||||||||||
Title: | CLASH: Compliant Low cost Antagonistic Servo Hands | ||||||||||||||||||||||||
Authors: |
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Date: | 2 October 2018 | ||||||||||||||||||||||||
Journal or Publication Title: | 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018 | ||||||||||||||||||||||||
Refereed publication: | Yes | ||||||||||||||||||||||||
Open Access: | Yes | ||||||||||||||||||||||||
Gold Open Access: | No | ||||||||||||||||||||||||
In SCOPUS: | Yes | ||||||||||||||||||||||||
In ISI Web of Science: | Yes | ||||||||||||||||||||||||
DOI: | 10.1109/IROS.2018.8593903 | ||||||||||||||||||||||||
ISSN: | 2153-0858 | ||||||||||||||||||||||||
ISBN: | 978-153868094-0 | ||||||||||||||||||||||||
Status: | Published | ||||||||||||||||||||||||
Keywords: | Nachgiebige Finger, feinfühlige, robust, low cost | ||||||||||||||||||||||||
Event Title: | IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2018) | ||||||||||||||||||||||||
Event Location: | Madrid, Spain | ||||||||||||||||||||||||
Event Type: | international Conference | ||||||||||||||||||||||||
Event Start Date: | 1 October 2018 | ||||||||||||||||||||||||
Event End Date: | 5 October 2018 | ||||||||||||||||||||||||
Organizer: | IEEE | ||||||||||||||||||||||||
HGF - Research field: | Aeronautics, Space and Transport | ||||||||||||||||||||||||
HGF - Program: | Space | ||||||||||||||||||||||||
HGF - Program Themes: | Space System Technology | ||||||||||||||||||||||||
DLR - Research area: | Raumfahrt | ||||||||||||||||||||||||
DLR - Program: | R SY - Space System Technology | ||||||||||||||||||||||||
DLR - Research theme (Project): | R - Multi-fingered robotic hands [SY] | ||||||||||||||||||||||||
Location: | Oberpfaffenhofen | ||||||||||||||||||||||||
Institutes and Institutions: | Institute of Robotics and Mechatronics (since 2013) > Mechatronic Systems | ||||||||||||||||||||||||
Deposited By: | Friedl, Werner | ||||||||||||||||||||||||
Deposited On: | 11 Dec 2018 22:59 | ||||||||||||||||||||||||
Last Modified: | 24 Apr 2024 20:28 |
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