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CLASH WRIST - A hardware to increase the capability of CLASH fruit gripper to use environment constraints exploration

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. 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/
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:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Friedl, WernerWerner.Friedl (at) dlr.deUNSPECIFIED
Roa Garzon, Máximo AlejandroMaximo.Roa (at) dlr.dehttps://orcid.org/0000-0003-1708-4223
Date:8 November 2019
Refereed publication:No
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
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 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:13 Dec 2019 13:47
Last Modified:13 Dec 2019 13:47

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