Stable simulation of underactuated compliant hands


Conference Paper

© 2016 IEEE. Despite increasing popularity of compliant and underactuated hands, few tools are available for modeling them. Thus, we propose a simulation technique to predict the success of a compliant gripper grasping irregular objects, which could be used in mechanism design as well as grasp planning. The simulator we propose integrates joint compliance simulation with a Boundary Layer Expanded Mesh (BLEM) technique to enhance the stability of contact estimation. We compare the proposed simulator with existing simulators via a set of stability and fidelity criteria, including contact force variation, contact position variation, and contact normal variation. Scores along these criteria are correlated with the simulator's accuracy of predicting the success/failure of a given grasp pose and preshape. A test set of 13 grasps, with two compliant underactuated hands were manually generated on 4 objects. Experiments suggest that our simulator leads to improvements in the stability criteria, predictability of grasp success, and reduction of simulation artifacts.

Full Text

Duke Authors

Cited Authors

  • Rocchi, A; Ames, B; Li, Z; Hauser, K

Published Date

  • June 8, 2016

Published In

Volume / Issue

  • 2016-June /

Start / End Page

  • 4938 - 4944

International Standard Serial Number (ISSN)

  • 1050-4729

International Standard Book Number 13 (ISBN-13)

  • 9781467380263

Digital Object Identifier (DOI)

  • 10.1109/ICRA.2016.7487699

Citation Source

  • Scopus