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Metamorphic hand based grasp constraint and affordance

Research output: Chapter in Book/Report/Conference proceedingConference paper

Guowu Wei, Jie Sun, Xinsheng Zhang, Dirk Pensky, Justus Piater, Jian S. Dai

Original languageEnglish
Title of host publication39th Mechanisms and Robotics Conference
PublisherAmerican Society of Mechanical Engineers (ASME)
Number of pages10
Volume5B-2015
ISBN (Print)9780791857137
DOIs
Publication statusPublished - 2015
EventASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2015 - Boston, United States
Duration: 2 Aug 20155 Aug 2015

Conference

ConferenceASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2015
CountryUnited States
CityBoston
Period2/08/20155/08/2015

King's Authors

Abstract

This paper presents the kinematics and grasp constraint and affordance of a newly designed mobile manipulator with a three-fingered metamorphic robotic hand. Structure design of the mobile manipulator, which contains a Robotino 3.0, a customised robot arm and a three-fingered metamorphic hand, is presented. Using mechanism decomposition, kinematics of the manipulator is formulated based on product-of-exponentials method and kinematics of the metamorphic hand is investigated leading to the construction of grasp constraint providing theoretical background for measuring grasp quality of the grasps predicted by the grasp-affordance model. Further, relation of the graspaffordance model to the manipulator and hand kinematics with the associated grasp constraint are indicated linking the manipulator kinematics with the grasp-affordance model for object manipulation. The mobile manipulator proposed in this paper is to be used for toys tidying up in a child's room with extended applications to the field of service robot in clutter clearing.

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