Haptic exploration of objects with rolling and sliding

Okamura, Allison M.; Turner, Michael L.; Cutkosky, Mark R.

doi:10.1109/robot.1997.619334

Cited by 69 publications

(27 citation statements)

References 22 publications

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“…Due to the manipulation ability of the forefinger in this hand, we believe that it should be possible to acquire significant haptic information from an object using only thumb-based sensors and procedures of active exploration, as proposed in [23]. This is in contrast to alternative sensing solutions, which either maximizes the area of sensor surfaces on the effector [22] or can only probe objects under the condition that the target object is not perturbed [24].…”

Section: Discussion and Applicationsmentioning

confidence: 99%

M2 Gripper: Extending the Dexterity of a Simple, Underactuated Gripper

Raymond

Spiers

Dollar

2015

Mechanisms and Machine Science

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In the development of robotic hands, researchers have sought to increase inherent functionality without incurring greater complexity and cost. In this paper, we extend the manipulation capabilities of a simple gripper through a novel, underactuated design that produces several distinctive modes of operation. The proposed asymmetric hand design, the Multi-Modal (M 2 ) Gripper, consists of a modular thumb with varying degrees of passive compliance and a dexterous, tendon-driven forefinger that can produce either underactuated or fully-actuated behaviors. With only two actuators and basic open-loop control, the hand is able to adaptively grasp objects of varying geometries, pinch-grasp smaller items, and perform some degree of in-hand manipulation via rolling and controlled sliding. We also detail the properties of this hand morphology that make it well-suited for future work in medical applications, haptic exploration, and studies on controlled stick-slip manipulation tasks.

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Section: Discussion and Applicationsmentioning

confidence: 99%

M2 Gripper: Extending the Dexterity of a Simple, Underactuated Gripper

Raymond

Spiers

Dollar

2015

Mechanisms and Machine Science

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“…Our preliminary experiments, conducted on a system of two 3DOF fingers, have demonstrated the efficacy, flexibility, and robustness of the proposed phase management framework. In ongoing work by Okamura [22] we are extending the phase/event framework to support unknown object exploration using tactile sensors. Other possible future routes of inquiry include the propagation of event uncertainty to the high level planning system, perhaps through the use of fuzzy Petri nets, and also provisions for phase chains that can be updated dynamically depending on evolving task requirements.…”

Section: Discussionmentioning

confidence: 99%

A phase management framework for event-driven dextrous manipulation

Hyde

Cutkosky²

1998

IEEE Trans. Robot. Automat.

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Multifingered robotic hands have not yet made significant inroads into practical applications, partly due to the complexity of dextrous manipulation tasks, and also due to control software shortcomings. High level task controllers exist, as do low level grasp controllers, but neither of these fully address the problems of changing kinematic and dynamic constraints that arise during a grasping and manipulation task. This paper develops a framework, utilizing phases, events, and transitions, that bridges the gap between high-and low-level control. Results from constraint handling and transition experiments conducted with a twofingered hand are included.

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“…A neural network, trained with tactile images from a robotic gripper, allowed the recognition in off-line mode of a limited number of objects [21]. Tactile and force features were used for object exploration using rolling and sliding processes [22]. However, these exploration methods were limited to a fixed number of steps without adaptability for exploration of new object shapes.…”

Section: Related Workmentioning

confidence: 99%