TY - GEN
T1 - A generic simulator for underactuated compliant hands
AU - Rocchi, Alessio
AU - Hauser, Kris
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2017/2/22
Y1 - 2017/2/22
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=85015842709&partnerID=8YFLogxK
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U2 - 10.1109/SIMPAR.2016.7862352
DO - 10.1109/SIMPAR.2016.7862352
M3 - Conference contribution
AN - SCOPUS:85015842709
T3 - 2016 IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots, SIMPAR 2016
SP - 37
EP - 42
BT - 2016 IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots, SIMPAR 2016
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2016 IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots, SIMPAR 2016
Y2 - 13 December 2016 through 16 December 2016
ER -