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CLASH: Compliant Low cost Antagonistic Servo Hands

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: IEEE International Conference on Intelligent Robots and Systems. Intelligent Robots and Systems (IROS) Conf, IROS 2018, 01-05. Okt. 2018, Madrid.

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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/
Document Type:Conference or Workshop Item (Speech, Poster)
Title:CLASH: Compliant Low cost Antagonistic Servo Hands
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Friedl, Wernerwerner.friedl (at) dlr.deUNSPECIFIED
Höppner, HannesHannes.Hoeppner (at) dlr.deUNSPECIFIED
Schmidt, FlorianF.Schmidt (at) dlr.deUNSPECIFIED
Roa Garzon, Máximo AlejandroMaximo.Roa (at) dlr.dehttps://orcid.org/0000-0003-1708-4223
Grebenstein, MarkusMarkus.Grebenstein (at) dlr.deUNSPECIFIED
Date:2 October 2018
Journal or Publication Title:IEEE International Conference on Intelligent Robots and Systems
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:No
Status:Published
Keywords:Nachgiebige Finger, feinfühlige, robust, low cost
Event Title:Intelligent Robots and Systems (IROS) Conf, IROS 2018
Event Location:Madrid
Event Type:international Conference
Event Dates:01-05. Okt. 2018
Organizer:IEEE
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Mehrfingrige Roboterhände
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:31 Jul 2019 20:22

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