Wei, G, Sun, J, Zhang, X, Pensky, D, Piater, J and Dai, JS 2015, Metamorphic hand based grasp constraint and affordance , in: American Society of Mechanical Engineers (ASME) 2015 International Design Engineering Technical Conferences & Computers and Information in Engineering Conferences (IDETC/CIE 2015), 2-5 August 2015, Boston, USA.
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This paper presents the kinematics and grasp constraint and affordance of a newly designed mobile manipulator with a three- ﬁngered metamorphic robotic hand. Structure design of the mobile manipulator, which contains a Robotino 3.0, a customised robot arm and a three-ﬁngered metamorphic hand, is presented. Using mechanism decomposition, kinematics of the manipulator is formulated based on product-of-exponentials method and kinematics of the metamorphic hand is investigated leading to the construction of grasp constraint providing theoretical background for measuring grasp quality of the grasps predicted by the grasp-affordance model. Further, relation of the grasp-affordance model to the manipulator and hand kinematics with the associated grasp constraint are indicated linking the manipulator kinematics with the grasp-affordance model for object manipulation. The mobile manipulator proposed in this paper is to be used for toys tidying up in a child’s room with extended applications to the ﬁeld of service robot in clutter clearing.
|Item Type:||Conference or Workshop Item (Paper)|
|Themes:||Subjects outside of the University Themes|
|Schools:||Schools > School of Computing, Science and Engineering|
|Journal or Publication Title:||Proceedings of the American Society of Mechanical Engineers (ASME) 2015 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference|
|Publisher:||American Society of Mechanical Engineers (ASME)|
|Funders:||EU 7th Framework Programme, Clearing Clutter Bit by Bit (SQUIRREL)|
|Depositing User:||Dr Guowu Wei|
|Date Deposited:||02 Jul 2015 11:00|
|Last Modified:||11 Nov 2016 11:07|
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