Highly Underactuated Radial Gripper for Automated Planar Grasping and Part Fixturing
Vatsal V. Patel,Andrew S. Morgan,Aaron M. Dollar,Vatsal V. Patel,Andrew S. Morgan,Aaron M. Dollar
Grasping can be conceptualized as the ability of an end-effector to temporarily attach or fixture an object to a manipulator-constraining all motion of the workpiece with respect to the end-effector's base frame. This seemingly simplistic action often requires excessive sensing, computation, or control to achieve with multi-fingered hands, which can be mitigated with underactuated mechanisms. In t...
