Salvato in:
| Autori principali: | , , , , , |
|---|---|
| Natura: | Preprint |
| Pubblicazione: |
2025
|
| Soggetti: | |
| Accesso online: | https://arxiv.org/abs/2501.16006 |
| Tags: |
Aggiungi Tag
Nessun Tag, puoi essere il primo ad aggiungerne!!
|
| _version_ | 1866912205577912320 |
|---|---|
| author | Kopicki, Marek Ansary, Sainul Islam Tolomei, Simone Angelini, Franco Garabini, Manolo Skrzypczyński, Piotr |
| author_facet | Kopicki, Marek Ansary, Sainul Islam Tolomei, Simone Angelini, Franco Garabini, Manolo Skrzypczyński, Piotr |
| contents | We introduce a novel reconfigurable passive joint (RP-joint), which has been implemented and tested on an underactuated three-finger robotic gripper. RP-joint has no actuation, but instead it is lightweight and compact. It can be easily reconfigured by applying external forces and locked to perform complex dexterous manipulation tasks, but only after tension is applied to the connected tendon. Additionally, we present an approach that allows learning dexterous grasps from single examples with underactuated grippers and automatically configures the RP-joints for dexterous manipulation. This is enhanced by integrating kinaesthetic contact optimization, which improves grasp performance even further. The proposed RP-joint gripper and grasp planner have been tested on over 370 grasps executed on 42 IKEA objects and on the YCB object dataset, achieving grasping success rates of 80% and 87%, on IKEA and YCB, respectively. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2501_16006 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Underactuated dexterous robotic grasping with reconfigurable passive joints Kopicki, Marek Ansary, Sainul Islam Tolomei, Simone Angelini, Franco Garabini, Manolo Skrzypczyński, Piotr Robotics We introduce a novel reconfigurable passive joint (RP-joint), which has been implemented and tested on an underactuated three-finger robotic gripper. RP-joint has no actuation, but instead it is lightweight and compact. It can be easily reconfigured by applying external forces and locked to perform complex dexterous manipulation tasks, but only after tension is applied to the connected tendon. Additionally, we present an approach that allows learning dexterous grasps from single examples with underactuated grippers and automatically configures the RP-joints for dexterous manipulation. This is enhanced by integrating kinaesthetic contact optimization, which improves grasp performance even further. The proposed RP-joint gripper and grasp planner have been tested on over 370 grasps executed on 42 IKEA objects and on the YCB object dataset, achieving grasping success rates of 80% and 87%, on IKEA and YCB, respectively. |
| title | Underactuated dexterous robotic grasping with reconfigurable passive joints |
| topic | Robotics |
| url | https://arxiv.org/abs/2501.16006 |