Continuum robots and underactuated grasping

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ID: 71038
2011
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Abstract
We discuss the capabilities of continuum (continuous backbone) robot structures in the performance of under-actuated grasping. Continuum robots offer the potential of robust grasps over a wide variety of object classes, due to their ability to adapt their shape to interact with the environment via non-local continuum contact conditions. Furthermore, this capability can be achieved with simple, low degree of freedom hardware. However, there are practical issues which currently limit the application of continuum robots to grasping. We discuss these issues and illustrate via an experimental continuum grasping case study. <br><br> <i>This paper was presented at the IFToMM/ASME International Workshop on Underactuated Grasping (UG2010), 19 August 2010, Montréal, Canada.</i>
Reference Key
giri2011continuummechanical Use this key to autocite in the manuscript while using SciMatic Manuscript Manager or Thesis Manager
Authors Giri, N.;Walker, I.;
Journal mechanical sciences
Year 2011
DOI
DOI not found
URL
http://www.mech-sci.net/2/51/2011/ms-2-51-2011.pdf
Keywords
Materials of engineering and construction. Mechanics of materials Engineering (General). Civil engineering (General) nuclear engineering. atomic power

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