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Configuration space perspectives on minimalistic robot hands and a caging-based biohazard sample handling robot

Wednesday, December 2nd, 16:10

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Elon Rimon, Technion

Abstract:

Ten years of research on minimalistic robot hands resulted in novel robot hand
designs and culminated in a new book, The Mechanics of Robotic Grasping by
Rimon and Burdick. Perspectives gained from this activity will be shared in a talk
that will consist of two related parts. Part I describes the configuration space analysis
of multi-finger grasps. In so doing, we obtain the minimalistic 2-D and 3-D robot
hand designs in terms of number of fingers.
Surprise: the minimalistic 3-D design is the classical 3-finger Salisbary Hand, with
added security of using the hand's palm when object immobilization is necessary.
Part II considers the notion of caging, which offers a robust object grasping
methodology under huge uncertainty in the finger positions. A novel contact
space approach resulted in a series of highly efficient and intuitive
caging-to-grasping algorithms, specifically suited for minimalistic robot
hands. Two such algorithms will be described for  3-finger robot hands grasping
2-D objects. Using caging grasp for 3-D objects, a new table-top robot that
opens biohazard sample-kits in biomedical will be described.
 
 hand_cad

Short bio: 

Elon Rimon is a Professor in the Department of Mechanical Engineering at the
Technion. Professor Rimon was a finalist for the best paper awards at the IEEE
International Conference on Robotics and Automation and the Workshop on Algorithmic
Foundations of Robotics, and he was awarded best paper presentation at the
Robotics Science and Systems Conference. Professor Rimon is the lead author of the
new Mechanics of Robot Grasping text, published by Cambridge University Press.
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