A generic simulator for underactuated compliant hands

Alessio Rocchi, Kris Hauser

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Compliant underactuated hands have been shown to be able to grasp a variety of objects while simplifying both mechanical and control complexity compared to fully-actuated hands. Building on recent advances in simulation software, this paper presents a generic underactuated compliant hand emulator working with state of the art simulation software that allows evaluating the behavior of a compliant gripper grasping irregular objects. The emulator makes use of the adaptive synergy concept which can be generalizable to a wide array of underactuated compliant hands. The architecture of the simulator-emulator system is presented and the implementation details will be highlighted for two common compliant grippers, the Pisa/IIT SoftHand and the RightHand Robotics Reflex SF. These software tools are being used for the simulation track of the IROS 2016 Robot Grasping and Manipulation Competition in which teams are asked to develop novel controllers to grasp a variety of cluttered and irregular objects.

Original languageEnglish (US)
Title of host publication2016 IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots, SIMPAR 2016
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages37-42
Number of pages6
ISBN (Electronic)9781509046164
DOIs
StatePublished - Feb 22 2017
Externally publishedYes
Event2016 IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots, SIMPAR 2016 - San Francisco, United States
Duration: Dec 13 2016Dec 16 2016

Publication series

Name2016 IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots, SIMPAR 2016

Conference

Conference2016 IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots, SIMPAR 2016
CountryUnited States
CitySan Francisco
Period12/13/1612/16/16

ASJC Scopus subject areas

  • Human-Computer Interaction
  • Artificial Intelligence

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