Accession Number:

ADA209363

Title:

Enhancing the Dexterity of a Robot Hand Using Controlled Slip

Descriptive Note:

Technical rept.

Corporate Author:

MASSACHUSETTS INST OF TECH CAMBRIDGE ARTIFICIAL INTELLIGENCE LAB

Personal Author(s):

Report Date:

1987-05-01

Pagination or Media Count:

221.0

Abstract:

Humans can effortlessly manipulate objects in their hands, dexterously sliding and twisting them with their grasp. Robots, however, have none of these capabilities, they simply gasp objects rigidly in their end effectors. To investigate this common form of human manipulation, an analysis of controlled slipping of a grasped object within a robot hand was performed. The Salisbury robot hand demonstrated many of these controlled slipping techniques, illustrating many results of this analysis. First, the possible slipping motions were found as a function of the location, orientation, and types of contact between the hand and the object. Second, for a given grasp, the contact types were determined as a function of the grasping force and the external forces on the object. Finally, by changing the grasping force and the external forces on the object. Finally, by changing the grasping force, the robot modified the constraints on the object and affect controlled slipping motions. Keywords Dexterity Constraint Screws Wrenches Fingertip sensors.

Subject Categories:

  • Cybernetics

Distribution Statement:

APPROVED FOR PUBLIC RELEASE