A three-finger gripper for manipulation in unstructured environments
- 10 December 2002
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- p. 2261-2266
- https://doi.org/10.1109/robot.1991.131967
Abstract
A gripper is described for manipulation in natural, unstructured environments. The specific manipulation task is to pick up surface material such as pebbles or small rocks in a natural terrain. The application is to give autonomous sampling capabilities to an autonomous vehicle for planetary exploration. The authors describe the task analysis process that led to the selection of a configuration with three soft fingers. They carry out a complete analysis of the stability of a grasp for this gripper including an analysis of the deformation of the fingers at the points of contact. The implementation of a grasp selection algorithm is described, and results on three-dimensional representations of objects computed from range data are presented.<>Keywords
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