TY - GEN
T1 - Analysis of grasp stability for a multi-fingered robot hand by using polygon segmentation algorithm
AU - Kim, Eun Hye
AU - Lim, Myo Taeg
AU - Lee, Yong Kwun
PY - 2011
Y1 - 2011
N2 - This paper presents the analysis of grasp stability for a bio-mimetic robot hand by using polygon segmentation algorithm. The presented hand has four independency moving fingers, which are driven by four-coupled link mechanism with two linear actuators. The robot hand was designed considering the dexterity and the compact size suited for various objects in daily life. Tactile sensors are mounted on the palm and the fingertip at each finger of the hand. With tactile sensor based on feedback control, the paper explains the control of the hand which is very stable in grasping by using new algorithm called polygon segmentation algorithm. This algorithm can be appiled for the analysis of grasp stability to various objects regardless of the number of contact points. Using the force equilibrium points and vertex of the polygon, several triangles can be obtained. We can obtain the polygon segmentation algorithm by analyzing the relationship among triangles. In order to verify this algorithm, experiments were conducted by using three types of objects with different characteristics.
AB - This paper presents the analysis of grasp stability for a bio-mimetic robot hand by using polygon segmentation algorithm. The presented hand has four independency moving fingers, which are driven by four-coupled link mechanism with two linear actuators. The robot hand was designed considering the dexterity and the compact size suited for various objects in daily life. Tactile sensors are mounted on the palm and the fingertip at each finger of the hand. With tactile sensor based on feedback control, the paper explains the control of the hand which is very stable in grasping by using new algorithm called polygon segmentation algorithm. This algorithm can be appiled for the analysis of grasp stability to various objects regardless of the number of contact points. Using the force equilibrium points and vertex of the polygon, several triangles can be obtained. We can obtain the polygon segmentation algorithm by analyzing the relationship among triangles. In order to verify this algorithm, experiments were conducted by using three types of objects with different characteristics.
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U2 - 10.1109/ROBIO.2011.6181471
DO - 10.1109/ROBIO.2011.6181471
M3 - Conference contribution
AN - SCOPUS:84860725537
SN - 9781457721373
T3 - 2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011
SP - 1320
EP - 1325
BT - 2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011
T2 - 2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011
Y2 - 7 December 2011 through 11 December 2011
ER -