FRINK Linked Data Fragments server

Matches in SemOpenAlex for { <https://semopenalex.org/work/W3133485019> ?p ?o ?g. }

• W3133485019 abstract "Grasping can be conceptualized as the ability of an end-effector to temporarily attach or fixture an object to a manipulator-constraining all motion of the workpiece with respect to the end-effector's base frame. This seemingly simplistic action often requires excessive sensing, computation, or control to achieve with multi-fingered hands, which can be mitigated with underactuated mechanisms. In this work, we present the analysis of radial graspers for automated part fixturing and grasping in the plane with a design implementation of a single-actuator, 8-finger gripper. By leveraging a passively adaptable mechanism that is under-constrained pre-contact, the gripper conforms to arbitrary object geometries and locks post-contact as to provide form closure around the object. We also justify that 8 radially symmetric fingers with passive locking are sufficient to create robust form closure grasps on arbitrary planar objects. The underlying mechanism of the gripper is described in detail, with analysis of its highly underactuated nature, and the resulting form closure ability. We show with a wide variety of objects that the gripper is able to acquire robust grasps on all of them, and maintain maximal quality form closure on most objects, with each finger exerting equal grasp force within ±2.48 N." @default.
• W3133485019 created "2021-03-01" @default.
• W3133485019 creator A5004284487 @default.
• W3133485019 creator A5028301925 @default.
• W3133485019 creator A5073494030 @default.
• W3133485019 date "2020-10-24" @default.
• W3133485019 modified "2023-09-23" @default.
• W3133485019 title "Highly Underactuated Radial Gripper for Automated Planar Grasping and Part Fixturing" @default.
• W3133485019 cites W1549675037 @default.
• W3133485019 cites W1979079685 @default.
• W3133485019 cites W2048517616 @default.
• W3133485019 cites W2052020945 @default.
• W3133485019 cites W2064878003 @default.
• W3133485019 cites W2084598667 @default.
• W3133485019 cites W2104869649 @default.
• W3133485019 cites W2114356463 @default.
• W3133485019 cites W2117672645 @default.
• W3133485019 cites W2150457055 @default.
• W3133485019 cites W2153573756 @default.
• W3133485019 cites W2155337985 @default.
• W3133485019 cites W2165872642 @default.
• W3133485019 cites W2167455001 @default.
• W3133485019 cites W2168321212 @default.
• W3133485019 cites W2296682917 @default.
• W3133485019 cites W2313600399 @default.
• W3133485019 cites W2807254784 @default.
• W3133485019 cites W3099587965 @default.
• W3133485019 cites W4233459650 @default.
• W3133485019 cites W4302586972 @default.
• W3133485019 doi "https://doi.org/10.1109/iros45743.2020.9341103" @default.
• W3133485019 hasPublicationYear "2020" @default.
• W3133485019 type Work @default.
• W3133485019 sameAs 3133485019 @default.
• W3133485019 citedByCount "2" @default.
• W3133485019 countsByYear W31334850192023 @default.
• W3133485019 crossrefType "proceedings-article" @default.
• W3133485019 hasAuthorship W3133485019A5004284487 @default.
• W3133485019 hasAuthorship W3133485019A5028301925 @default.
• W3133485019 hasAuthorship W3133485019A5073494030 @default.
• W3133485019 hasConcept C121332964 @default.
• W3133485019 hasConcept C121684516 @default.
• W3133485019 hasConcept C126042441 @default.
• W3133485019 hasConcept C127413603 @default.
• W3133485019 hasConcept C133731056 @default.
• W3133485019 hasConcept C134786449 @default.
• W3133485019 hasConcept C146834321 @default.
• W3133485019 hasConcept C154945302 @default.
• W3133485019 hasConcept C162324750 @default.
• W3133485019 hasConcept C171268870 @default.
• W3133485019 hasConcept C172707124 @default.
• W3133485019 hasConcept C199360897 @default.
• W3133485019 hasConcept C2775924081 @default.
• W3133485019 hasConcept C2775960376 @default.
• W3133485019 hasConcept C2781238097 @default.
• W3133485019 hasConcept C34447519 @default.
• W3133485019 hasConcept C41008148 @default.
• W3133485019 hasConcept C47446073 @default.
• W3133485019 hasConcept C62520636 @default.
• W3133485019 hasConcept C78519656 @default.
• W3133485019 hasConcept C81302111 @default.
• W3133485019 hasConcept C8652668 @default.
• W3133485019 hasConcept C88337583 @default.
• W3133485019 hasConcept C89611455 @default.
• W3133485019 hasConcept C90509273 @default.
• W3133485019 hasConceptScore W3133485019C121332964 @default.
• W3133485019 hasConceptScore W3133485019C121684516 @default.
• W3133485019 hasConceptScore W3133485019C126042441 @default.
• W3133485019 hasConceptScore W3133485019C127413603 @default.
• W3133485019 hasConceptScore W3133485019C133731056 @default.
• W3133485019 hasConceptScore W3133485019C134786449 @default.
• W3133485019 hasConceptScore W3133485019C146834321 @default.
• W3133485019 hasConceptScore W3133485019C154945302 @default.
• W3133485019 hasConceptScore W3133485019C162324750 @default.
• W3133485019 hasConceptScore W3133485019C171268870 @default.
• W3133485019 hasConceptScore W3133485019C172707124 @default.
• W3133485019 hasConceptScore W3133485019C199360897 @default.
• W3133485019 hasConceptScore W3133485019C2775924081 @default.
• W3133485019 hasConceptScore W3133485019C2775960376 @default.
• W3133485019 hasConceptScore W3133485019C2781238097 @default.
• W3133485019 hasConceptScore W3133485019C34447519 @default.
• W3133485019 hasConceptScore W3133485019C41008148 @default.
• W3133485019 hasConceptScore W3133485019C47446073 @default.
• W3133485019 hasConceptScore W3133485019C62520636 @default.
• W3133485019 hasConceptScore W3133485019C78519656 @default.
• W3133485019 hasConceptScore W3133485019C81302111 @default.
• W3133485019 hasConceptScore W3133485019C8652668 @default.
• W3133485019 hasConceptScore W3133485019C88337583 @default.
• W3133485019 hasConceptScore W3133485019C89611455 @default.
• W3133485019 hasConceptScore W3133485019C90509273 @default.
• W3133485019 hasFunder F4320306076 @default.
• W3133485019 hasLocation W31334850191 @default.
• W3133485019 hasOpenAccess W3133485019 @default.
• W3133485019 hasPrimaryLocation W31334850191 @default.
• W3133485019 hasRelatedWork W184672670 @default.
• W3133485019 hasRelatedWork W1897019178 @default.
• W3133485019 hasRelatedWork W1988408507 @default.
• W3133485019 hasRelatedWork W1989428111 @default.
• W3133485019 hasRelatedWork W2524190692 @default.
• W3133485019 hasRelatedWork W3091069154 @default.
• W3133485019 hasRelatedWork W3127458451 @default.

• next