Design And Control Of Foam Hands For Dexterous Manipulation
INTERNATIONAL JOURNAL OF HUMANOID ROBOTICS(2020)
摘要
There has been great progress in soft robot design, manufacture, and control in recent years, and soft robots are a tool of choice for safe and robust handling of objects in conditions of uncertainty. Still, dexterous in-hand manipulation using soft robots remains a challenge. This paper introduces foam robot hands actuated by tendons sewn through a fabric glove. The flexibility of tendon actuation allows for high competence in utilizing deformation for robust in-hand manipulation. We discuss manufacturing, control, and design optimization for foam robots and demonstrate robust grasping and in-hand manipulation on a variety of different physical hand prototypes.
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关键词
Grasping and manipulation, novel mechanism design, physical interaction, soft robots, tendon-driven mechanism design, robot hands
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