Everyday Finger: A Robotic Finger that Meets the Needs of Everyday Interactive Manipulation
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arXiv
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| Auteurs principaux: | , , , , |
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| Format: | Preprint |
| Publié: |
2024
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| _version_ | 1866911981959643136 |
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| author | Ornelas, Rubén Castro Cantú, Tomás Sperandio, Isabel Slocum, Alexander H. Agrawal, Pulkit |
| author_facet | Ornelas, Rubén Castro Cantú, Tomás Sperandio, Isabel Slocum, Alexander H. Agrawal, Pulkit |
| contents | We provide the mechanical and dynamical requirements for a robotic finger capable of performing thirty diverse everyday tasks. To match these requirements, we present a finger design based on series-elastic actuation that we call the everyday finger. Our focus is to make the fingers as compact as possible while achieving the desired performance. We evaluated everyday fingers by constructing a two-finger robotic hand that was tested on various performance parameters and tasks like picking and placing dishes in a rack, picking thin and flat objects like paper and delicate objects such as strawberries. Videos are available at the project website: https://sites.google.com/view/everydayfinger. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2408_04142 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Everyday Finger: A Robotic Finger that Meets the Needs of Everyday Interactive Manipulation Ornelas, Rubén Castro Cantú, Tomás Sperandio, Isabel Slocum, Alexander H. Agrawal, Pulkit Robotics We provide the mechanical and dynamical requirements for a robotic finger capable of performing thirty diverse everyday tasks. To match these requirements, we present a finger design based on series-elastic actuation that we call the everyday finger. Our focus is to make the fingers as compact as possible while achieving the desired performance. We evaluated everyday fingers by constructing a two-finger robotic hand that was tested on various performance parameters and tasks like picking and placing dishes in a rack, picking thin and flat objects like paper and delicate objects such as strawberries. Videos are available at the project website: https://sites.google.com/view/everydayfinger. |
| title | Everyday Finger: A Robotic Finger that Meets the Needs of Everyday Interactive Manipulation |
| topic | Robotics |
| url | https://arxiv.org/abs/2408.04142 |