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Conference Paper: Intuitive Control of Humanoid Soft-Robotic Hand BCL-13

TitleIntuitive Control of Humanoid Soft-Robotic Hand BCL-13
Authors
Issue Date2018
Publisher IEEE Robotics & Automation Society.
Citation
2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids), Beijing, China, 6-9 November 2018 How to Cite?
AbstractThis paper presents a double jaw hand for industrial assembly. The hand comprises two orthogonal parallel grippers with different mechanisms. The inner gripper is made of a crank-slider mechanism which is compact and able to firmly hold objects like shafts. The outer gripper is made of a parallelogram that has large stroke to hold big objects like pulleys. The two grippers are connected by a prismatic joint along the hand's approaching vector. The hand is able to hold two objects and perform in-hand manipulation like pull-in (insertion) and push-out (ejection). This paper presents the detailed design and implementation of the hand, and demonstrates the advantages by performing experiments on two sets of peg-in-multi-hole assembly tasks as parts of the World Robot Challenge (WRC) 2018 using a bimanual robot.
DescriptionPaper WeIN.33
Persistent Identifierhttp://hdl.handle.net/10722/266473

 

DC FieldValueLanguage
dc.contributor.authorZhou, J-
dc.contributor.authorChen, X-
dc.contributor.authorChang, U-
dc.contributor.authorPan, J-
dc.contributor.authorWang, WP-
dc.contributor.authorWang, Z-
dc.date.accessioned2019-01-18T08:20:20Z-
dc.date.available2019-01-18T08:20:20Z-
dc.date.issued2018-
dc.identifier.citation2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids), Beijing, China, 6-9 November 2018-
dc.identifier.urihttp://hdl.handle.net/10722/266473-
dc.descriptionPaper WeIN.33 -
dc.description.abstractThis paper presents a double jaw hand for industrial assembly. The hand comprises two orthogonal parallel grippers with different mechanisms. The inner gripper is made of a crank-slider mechanism which is compact and able to firmly hold objects like shafts. The outer gripper is made of a parallelogram that has large stroke to hold big objects like pulleys. The two grippers are connected by a prismatic joint along the hand's approaching vector. The hand is able to hold two objects and perform in-hand manipulation like pull-in (insertion) and push-out (ejection). This paper presents the detailed design and implementation of the hand, and demonstrates the advantages by performing experiments on two sets of peg-in-multi-hole assembly tasks as parts of the World Robot Challenge (WRC) 2018 using a bimanual robot.-
dc.languageeng-
dc.publisher IEEE Robotics & Automation Society. -
dc.relation.ispartof2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids)-
dc.titleIntuitive Control of Humanoid Soft-Robotic Hand BCL-13-
dc.typeConference_Paper-
dc.identifier.emailWang, WP: wenping@cs.hku.hk-
dc.identifier.emailWang, Z: zwangski@hku.hk-
dc.identifier.authorityWang, WP=rp00186-
dc.identifier.authorityWang, Z=rp01915-
dc.identifier.hkuros296646-
dc.publisher.placeUnited States-

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