Design and Control of Roller Grasper V2 for In-Hand Manipulation
Shenli Yuan,Lin Shao,Connor L. Yako,Alex Gruebele,J. Kenneth Salisbury,Shenli Yuan,Lin Shao,Connor L. Yako,Alex Gruebele,J. Kenneth Salisbury
The ability to perform in-hand manipulation still remains an unsolved problem; having this capability would allow robots to perform sophisticated tasks requiring repositioning and reorienting of grasped objects. In this work, we present a novel non-anthropomorphic robot grasper with the ability to manipulate objects by means of active surfaces at the fingertips. Active surfaces are achieved by sph...
