Stefan A. J. Spanjer, Ravi Balasubramanian, J. Herder, A. Dollar
{"title":"Improved grasp robustness through variable transmission ratios in underactuated fingers","authors":"Stefan A. J. Spanjer, Ravi Balasubramanian, J. Herder, A. Dollar","doi":"10.1109/IROS.2012.6385884","DOIUrl":null,"url":null,"abstract":"This paper investigates the possibility of increasing the robustness of underactuated grasping through the use of variable transmission ratios. We propose a 4-step procedure to investigate and improve the robustness of an underactuated finger on a fixed object. This procedure maximizes the robustness against random force disturbances to the maximum obtainable value under given circumstances. A simulation study is presented that analyzes the disturbance robustness, followed by an experimental study to confirm the effect. The variable transmission ratio is a promising means to increase grasp robustness and has great application potential.","PeriodicalId":6358,"journal":{"name":"2012 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"7 1","pages":"2289-2294"},"PeriodicalIF":0.0000,"publicationDate":"2012-12-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"8","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2012 IEEE/RSJ International Conference on Intelligent Robots and Systems","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/IROS.2012.6385884","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 8
Abstract
This paper investigates the possibility of increasing the robustness of underactuated grasping through the use of variable transmission ratios. We propose a 4-step procedure to investigate and improve the robustness of an underactuated finger on a fixed object. This procedure maximizes the robustness against random force disturbances to the maximum obtainable value under given circumstances. A simulation study is presented that analyzes the disturbance robustness, followed by an experimental study to confirm the effect. The variable transmission ratio is a promising means to increase grasp robustness and has great application potential.