| Volume 21 Issue 05/06 - Publication Date: 1 May 2002 |
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| Nonholonomy on Purpose |
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| Dexterous Grippers: Putting Nonholonomy
to Work for Fine Manipulation |
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| Antonio Bicchi 'Enrico
Piaggio' Interdepartmental Research Center Universitá di Pisa, Italy
and Alessia Marigo Consiglio Nazionale delle Ricerche Istituto
per le Applicazioni del Calcolo 'M. Picone' Roma, Italy |
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| In this paper, we describe
the realization and control of robotic end-effectors that are designed to
achieve high operational versatility with limited constructive complexity.
The design of such end-effectors, which can be regarded either as low-complexity
robot hands or as highly versatile robot grippers, is based on the intentional
exploitation of nonholonomic effects that occur in rolling. While the potential
usefulness of manipulation by rolling has been theoretically established
in the literature, several problems in the practical implementation of the
concept remained open. In particular, manipulation of parts of complex,
and (a priori) unknown, shape is considered in this paper. Experimental
low-complexity grippers that realize dexterous manipulation by rolling are
also described. |
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