Towards a variable compliance hydrostatic skeleton inspired gripper

Zheng, Y.; Giannaccini, Maria Elena; Pipe, Anthony G.; Dogramadzi, S.

Abstract

Variable compliance is a subject of great interest in the robotics community, particularly in the area of HumanRobot interaction. In this work, variable compliance is achieved in a novel grasping device inspired by the hydrostatic skeletons of invertebrates. This is accomplished passively, relying on material properties and innovative prototype design. The design will be described and its behavior evaluated through a series of experiments. It will also be shown that a prototype with a very simple design is able to grasp the object with little active control. © 2012 IEEE.

• Presentation Conference Type: Conference Paper (published)
• Conference Name: 4th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob), 2012
• Publication Date: Oct 18, 2012
• Journal: Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics
• Print ISSN: 2155-1774
• Peer Reviewed: Peer Reviewed
• Pages: 246-251
• Book Title: 2012 4th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob)
• DOI: https://doi.org/10.1109/BioRob.2012.6290885
• Keywords: hydrostatic skeleton, gripper
• Public URL: https://uwe-repository.worktribe.com/output/946780
• Publisher URL: http://dx.doi.org/10.1109/BioRob.2012.6290885
• Additional Information: Title of Conference or Conference Proceedings : 4th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob), 2012