Manipulation Capabilities with Simple Hands

Alberto Rodriguez, Matthew T. Mason, and Siddhartha Srinivasa
International Symposium on Experimental Robotics (ISER 2010), December, 2010.


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Abstract
A simple hand is a robotic gripper that trades off generality in function for practicality in design and control. The long-term goal of our work is to explore that tradeoff and demonstrate broad manipulation capabilities with simple hands. This paper describes two prototype simple hands. Both hands have thin cylindrical fingers arranged symmetrically around a low friction circular palm. The fingers are compliantly coupled to a single actuator. Our experiments with both hands in a bin-picking scenario demonstrate that we can achieve robust grasp classification and in-hand localization using simple statistical techniques. We further show how the classification accuracy increases as the grasp proceeds by exploiting information obtained online. We finally evaluate the relative importance of observing the full state of the hand rather than just observing the state of the actuators.

Keywords
Hand design, simple hand, grasping, bin picking

Notes
Associated Center(s) / Consortia: Center for the Foundations of Robotics
Associated Lab(s) / Group(s): Manipulation Lab
Associated Project(s): Simple Hands

Text Reference
Alberto Rodriguez, Matthew T. Mason, and Siddhartha Srinivasa, "Manipulation Capabilities with Simple Hands," International Symposium on Experimental Robotics (ISER 2010), December, 2010.

BibTeX Reference
@inproceedings{Rodriguez_2010_6731,
   author = "Alberto Rodriguez and Matthew T. Mason and Siddhartha Srinivasa",
   title = "Manipulation Capabilities with Simple Hands",
   booktitle = "International Symposium on Experimental Robotics (ISER 2010)",
   month = "December",
   year = "2010",
}