Computational Design of Reconfigurable Underactuated Linkages for Adaptive Grippers

Autor: Ivan I. Borisov, Evgenii E. Khomutov, Sergey A. Kolyubin, Stefano Stramigioli

Publikováno v: IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2021, 6117-6123
STARTPAGE=6117;ENDPAGE=6123;TITLE=IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2021

We present an optimization-based structural-parametric synthesis method for reconfigurable closed-chain underactuated linkages for robotic systems that physically interact with the environment with an emphasis on adaptive grasping. The key idea is to

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_dedup___::d3fa48d9f0980f092c469a4ea46a950e
https://doi.org/10.1109/iros51168.2021.9636792