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| Autores principales: | , , |
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| Formato: | Preprint |
| Publicado: |
2022
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| Materias: | |
| Acceso en línea: | https://arxiv.org/abs/2203.07456 |
| Etiquetas: |
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- This paper introduces an extension to the energy map method for in-hand manipulation. Energy maps are used to predict how a part will evolve in the grasp given a specific actuation input to the gripper. Previous approaches assumed frictionless contacts, but we show analytically that friction can be included in the energy maps when using two-link underactuated fingers by understanding the evolution of the part-finger contact. These friction-based energy maps were used to evaluate the importance of various tendon-pulley gripper parameters across nearly 6 million simulated grasping scenarios. Specifically, a variable palm width is needed to manipulate parts of varying scales, and a variable transmission ratio, or the ratio of the distal to the proximal pulley radii, is needed to draw parts into a cage or to maintain a tip prehension grasp.