Improving Robotic Manipulation Without Sacrificing Grasping Efficiency: A Multi-Modal, Adaptive Gripper With Reconfigurable Finger Bases

This work proposes a framework that improves the dexterous manipulation capabilities of two fingered grippers by: i) optimizing the finger link dimensions and the interfinger distance for a given object and ii) analyzing the effect of finger symmetry and the distance between the finger base frames o...

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Bibliographic Details
Main Authors: Nathan Elangovan, Lucas Gerez, Geng Gao, Minas Liarokapis
Format: Article
Published: IEEE 2021-01-01
Series:IEEE Access
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