تقرير
Everyday Finger: A Robotic Finger that Meets the Needs of Everyday Interactive Manipulation
| العنوان: | Everyday Finger: A Robotic Finger that Meets the Needs of Everyday Interactive Manipulation |
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| المؤلفون: | Ornelas, Rubén Castro, Cantú, Tomás, Sperandio, Isabel, Slocum, Alexander H., Agrawal, Pulkit |
| سنة النشر: | 2024 |
| المجموعة: | Computer Science |
| مصطلحات موضوعية: | Computer Science - Robotics |
| الوصف: | We provide the mechanical and dynamical requirements for a robotic finger capable of performing thirty diverse everyday tasks. To match these requirements, we present a finger design based on series-elastic actuation that we call the everyday finger. Our focus is to make the fingers as compact as possible while achieving the desired performance. We evaluated everyday fingers by constructing a two-finger robotic hand that was tested on various performance parameters and tasks like picking and placing dishes in a rack, picking thin and flat objects like paper and delicate objects such as strawberries. Videos are available at the project website: https://sites.google.com/view/everydayfinger. Comment: 9.5 pages + references, 14 figures, extended/updated version of article to appear in IEEE ICRA 2024 proceedings |
| نوع الوثيقة: | Working Paper |
| URL الوصول: | http://arxiv.org/abs/2408.04142 |
| رقم الأكسشن: | edsarx.2408.04142 |
| قاعدة البيانات: | arXiv |
| الوصف غير متاح. |