A kinematics performance index based on the rate of change of a standard isotropy condition for robot design optimization

2005 ◽  
Vol 53 (3-4) ◽  
pp. 153-163 ◽  
Author(s):  
René V. Mayorga ◽  
Johnatan Carrera ◽  
Maria M. Oritz
Keyword(s):  
Design Optimization ◽  
Performance Index ◽  
Rate Of Change ◽  
Robot Design ◽  
Isotropy Condition

Design and Control of Foam Hands for Dexterous Manipulation

2020 ◽  
Vol 17 (01) ◽  
pp. 1950033
Author(s):  
Dominik Bauer ◽  
Cornelia Bauer ◽  
Jonathan P. King ◽  
Daniele Moro ◽  
Kai-Hung Chang ◽  
...  
Keyword(s):  
Design Optimization ◽  
Robot Design ◽  
Soft Robot ◽  
Dexterous Manipulation ◽  
Soft Robots ◽  
Manufacturing Control ◽  
Great Progress ◽  
Robot Hands ◽  
High Competence ◽  
And Control

There has been great progress in soft robot design, manufacture, and control in recent years, and soft robots are a tool of choice for safe and robust handling of objects in conditions of uncertainty. Still, dexterous in-hand manipulation using soft robots remains a challenge. This paper introduces foam robot hands actuated by tendons sewn through a fabric glove. The flexibility of tendon actuation allows for high competence in utilizing deformation for robust in-hand manipulation. We discuss manufacturing, control, and design optimization for foam robots and demonstrate robust grasping and in-hand manipulation on a variety of different physical hand prototypes.

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