A Dexterous Robotic Hand for In-Hand Manipulation of Long, Thin Objects

Abdullah Nazir

Track: Paper Submission Track

Keywords: Grippers and Other End-Effectors, Dexterous Manipulation

Abstract:

This work concerns dexterous robotic manipulation of long, thin objects. It is inspired by how human workers handle steel rods to build cage-like structures used in construction. A typical scenario involves a human worker turning and shifting the steel rod within the hand to prepare it for assembly before fastening it to an existing structure. Motivated by this, we present a low-cost robotic hand (or “gripper”), which uses a roller fingertip and direct-drive actuation to dexterously and compliantly manipulate long, thin objects in quasistatic or dynamic manner.
The reliability of our gripper’s operations is then confirmed through a set of experiments performed in an open-loop manner.

Submission Number: 183