Analysis of grasp stability for a multi-fingered robot hand by using polygon segmentation algorithm

Eun Hye Kim, Myo Taeg Lim, Yong Kwun Lee

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

Abstract

This paper presents the analysis of grasp stability for a bio-mimetic robot hand by using polygon segmentation algorithm. The presented hand has four independency moving fingers, which are driven by four-coupled link mechanism with two linear actuators. The robot hand was designed considering the dexterity and the compact size suited for various objects in daily life. Tactile sensors are mounted on the palm and the fingertip at each finger of the hand. With tactile sensor based on feedback control, the paper explains the control of the hand which is very stable in grasping by using new algorithm called polygon segmentation algorithm. This algorithm can be appiled for the analysis of grasp stability to various objects regardless of the number of contact points. Using the force equilibrium points and vertex of the polygon, several triangles can be obtained. We can obtain the polygon segmentation algorithm by analyzing the relationship among triangles. In order to verify this algorithm, experiments were conducted by using three types of objects with different characteristics.

Original languageEnglish
Title of host publication2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011
Pages1320-1325
Number of pages6
DOIs
Publication statusPublished - 2011
Event2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011 - Phuket, Thailand
Duration: 2011 Dec 72011 Dec 11

Publication series

Name2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011

Other

Other2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011
CountryThailand
CityPhuket
Period11/12/711/12/11

ASJC Scopus subject areas

  • Computer Vision and Pattern Recognition

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  • Cite this

    Kim, E. H., Lim, M. T., & Lee, Y. K. (2011). Analysis of grasp stability for a multi-fingered robot hand by using polygon segmentation algorithm. In 2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011 (pp. 1320-1325). [6181471] (2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011). https://doi.org/10.1109/ROBIO.2011.6181471