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Towards a Functional Evaluation of Manipulation Performance in Dexterous Robotic Hand Design

Roa, Maximo A. and Chen, Zhaopeng and Staal, Irene and Muirhead, Jared and Maier, Annika and Pleintinger, Benedikt and Borst, Christoph and Lii, Neal Y. (2014) Towards a Functional Evaluation of Manipulation Performance in Dexterous Robotic Hand Design. In: IEEE International Conference on Robotics and Automation (ICRA), pp. 6800-6807. Int. Conf. on Robotics and Automation - ICRA, 31 May - 7 June 2014, Honk Kong, China. doi: 10.1109/ICRA.2014.6907863.

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Official URL: http://ieeexplore.ieee.org/xpl/articleDetails.jsp?tp=&arnumber=6907863&openedRefinements%3D*%26filter%3DAND%28NOT%284283010803%29%29%26rowsPerPage%3D100%26queryText%3D%28robotic+hands%29


Dexterous multifingered hands are the most complex and versatile variants of robotic end effectors. Compared to simpler grippers and underactuated hands, they should be more capable of grasping and, especially, manipulating different objects. This paper explores the relationship between kinematic design and manipulation performance of robotic hands. Some evaluation criteria frequently used by hand designers to verify kinematic configurations are revisited. The results from these criteria are scrutinized and compared with the evaluation of the manipulation workspace and the ranges of motion of inhand manipulation for a set of predefined objects. Simulations and actual manipulation experiments are carried out with different kinematic configurations on a modular dexterous hand. The results show some disconnection between perceived good designs through common evaluation criteria and their actual, realizable manipulation performance. This work finally gives some insight toward a more holistic approach to design hands that better address grasp and manipulation for the intended tasks and applications.

Item URL in elib:https://elib.dlr.de/93720/
Document Type:Conference or Workshop Item (Speech)
Title:Towards a Functional Evaluation of Manipulation Performance in Dexterous Robotic Hand Design
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Roa, Maximo A.maximo.roa (at) dlr.deUNSPECIFIED
Chen, Zhaopengzhaopeng.chen (at) dlr.deUNSPECIFIED
Maier, Annikaannika.maier (at) dlr.deUNSPECIFIED
Pleintinger, Benediktbenedikt.pleintinger (at) dlr.deUNSPECIFIED
Borst, ChristophChristoph.Borst (at) dlr.deUNSPECIFIED
Lii, Neal Y.neal.lii (at) dlr.deUNSPECIFIED
Date:June 2014
Journal or Publication Title:IEEE International Conference on Robotics and Automation (ICRA)
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In ISI Web of Science:Yes
DOI :10.1109/ICRA.2014.6907863
Page Range:pp. 6800-6807
Series Name:Proc. IEEE Int. Conf. on Robotics and Automation - ICRA 2014
Keywords:hand evaluation; precision grasp; in-hand manipulation; dexterous end effector.
Event Title:Int. Conf. on Robotics and Automation - ICRA
Event Location:Honk Kong, China
Event Type:international Conference
Event Dates:31 May - 7 June 2014
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 - On-Orbit Servicing [SY]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Autonomy and Teleoperation
Deposited By: Roa Garzon, Dr. Máximo Alejandro
Deposited On:08 Jan 2015 11:44
Last Modified:09 Feb 2017 19:21

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