Title
Underactuated Dexterous Robotic Grasping With Reconfigurable Passive Joints
Authors
[ 1 ] Instytut Robotyki i Inteligencji Maszynowej, Wydział Automatyki, Robotyki i Elektrotechniki, Politechnika Poznańska | [ P ] employee | [ DW ] applied doctorate phd student
Scientific discipline (Law 2.0)
[2.2] Automation, electronics, electrical engineering and space technologies[7.3] Computer and information sciences
Year of publication
2025
Published in
Article type
scientific article
Publication language
polish
Keywords
EN
- re-configurable passive joints
- underactuated gripper
- dexterous grasp learning
Abstract
PL We introduce a novel reconfigurable passive joint (RP-joint), which has been implemented and tested on an underactuated three-finger robotic gripper. RP-joint has no actuation, but instead it is lightweight and compact. It can be easily reconfigured by applying external forces and locked to perform complex dexterous manipulation tasks, but only after tension is applied to the connected tendon. Additionally, we present an approach that allows learning dexterous grasps from single examples with underactuated grippers and automatically configures the RP-joints for dexterous manipulation. This is enhanced by integrating kinaesthetic contact optimization, which improves grasp performance even further. The proposed RP-joint gripper and grasp planner have been tested on over 370 grasps executed on 42 IKEA objects and on the YCB object dataset, achieving grasping success rates of 80% and 87%, on IKEA and YCB, respectively.
Pages (from - to)
48 - 55
License type
CC BY-NC-ND (attribution - noncommercial - no derivatives)
Open Access Mode
czasopismo hybrydowe
Open Access Text Version
final published version
Date of Open Access to the publication
at the time of publication
Full text of article
Access level to full text
public
Ministry points / journal
200
Impact Factor
5,3 [List 2024]
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