A generic simulator for underactuated compliant hands

TitleA generic simulator for underactuated compliant hands
Publication TypeConference Paper
Year of Publication2017
AuthorsRocchi, A, Hauser, K
Conference Name2016 IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots, SIMPAR 2016
Date Published02/2017

© 2016 IEEE.Compliant underactuated hands have been shown to be able to grasp a variety of objects while simplifying both mechanical and control complexity compared to fully-actuated hands. Building on recent advances in simulation software, this paper presents a generic underactuated compliant hand emulator working with state of the art simulation software that allows evaluating the behavior of a compliant gripper grasping irregular objects. The emulator makes use of the adaptive synergy concept which can be generalizable to a wide array of underactuated compliant hands. The architecture of the simulator-emulator system is presented and the implementation details will be highlighted for two common compliant grippers, the Pisa/IIT SoftHand and the RightHand Robotics Reflex SF. These software tools are being used for the simulation track of the IROS 2016 Robot Grasping and Manipulation Competition in which teams are asked to develop novel controllers to grasp a variety of cluttered and irregular objects.