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Friedl, Werner and Roa Garzon, Máximo Alejandro (2019) CLASH WRIST - A hardware to increase the capability of CLASH fruit gripper to use environment constraints exploration. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019. IROS 2019, 08 Nov. 2019, Macao.
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Abstract
Humans use environmental constraints (EC) in manipulation to compensate for uncertainties in their world model. The same principle was recently applied to robotics, so that soft underactuated hands improve their grasping capability by using environmental constraints exploitation (ECE) [1]. Due to orientation of the robotic hand for example in the EC wall grasp, the length of the robot wrist plus the hand length gets quite important, if objects are grasp out of a box [2] . Most of the modern cobots have quite long wrist, so we have constructed a two degree of freedom wrist for the CLASH [3], to solve this problem (Fig. 1).
| Item URL in elib: | https://elib.dlr.de/131929/ | |||||||||
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| Document Type: | Conference or Workshop Item (Poster) | |||||||||
| Title: | CLASH WRIST - A hardware to increase the capability of CLASH fruit gripper to use environment constraints exploration | |||||||||
| Authors: |
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| Date: | 8 November 2019 | |||||||||
| Journal or Publication Title: | 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019 | |||||||||
| Refereed publication: | No | |||||||||
| Open Access: | Yes | |||||||||
| Gold Open Access: | No | |||||||||
| In SCOPUS: | Yes | |||||||||
| In ISI Web of Science: | No | |||||||||
| Status: | Published | |||||||||
| Keywords: | Robot wrist, environmental constraints exploitation | |||||||||
| Event Title: | IROS 2019 | |||||||||
| Event Location: | Macao | |||||||||
| Event Type: | Workshop | |||||||||
| Event Dates: | 08 Nov. 2019 | |||||||||
| 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: | 13 Dec 2019 13:47 | |||||||||
| Last Modified: | 29 Mar 2023 00:44 |
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