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dc.contributor.authorJin, JingFu-
dc.contributor.authorYuen, Shang Li-
dc.contributor.authorLee, Young Hoon-
dc.contributor.authorJun, ChangHyun-
dc.contributor.authorKim, Youngji Brigid-
dc.contributor.authorLee, Sungon-
dc.contributor.authorYou, Bum-Jae-
dc.contributor.authorDoh, Nakju Lett-
dc.date.accessioned2024-01-20T11:33:37Z-
dc.date.available2024-01-20T11:33:37Z-
dc.date.created2021-09-05-
dc.date.issued2013-09-
dc.identifier.issn0278-0046-
dc.identifier.urihttps://pubs.kist.re.kr/handle/201004/127714-
dc.description.abstractIn this paper, a flexible enveloping grasper is proposed for pick-and-place tasks with low manipulation and task planning complexity for practical applications. The proposed grasper has two main characteristics: self-adaptivity and flexibility. Self-adaptivity means that the proposed grasper can grip an object in a self-adaptive way such that various process complexities (e. g., sensing, force control, and sensor-motor coordination) are significantly reduced. By flexibility, we mean that, by using a flexible material, a stable grip can be implemented to cause increased friction between the grasper and the target object as a result of increased contact area. These two properties help the proposed grasper to minimize internal forces in a passive manner and to achieve successful force distribution with self-adaptivity when performing enveloping grasping. Three sets of experiments were performed with an average success rate of 93.2% in pick-and-place tasks.-
dc.languageEnglish-
dc.publisherIEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC-
dc.subjectVIBRATION SUPPRESSION-
dc.subjectMANIPULATOR-
dc.subjectHAND-
dc.subjectIMPLEMENTATION-
dc.subjectSERVICE-
dc.titleMinimal Grasper: A Practical Robotic Grasper With Robust Performance for Pick-and-Place Tasks-
dc.typeArticle-
dc.identifier.doi10.1109/TIE.2012.2205349-
dc.description.journalClass1-
dc.identifier.bibliographicCitationIEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, v.60, no.9, pp.3796 - 3805-
dc.citation.titleIEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS-
dc.citation.volume60-
dc.citation.number9-
dc.citation.startPage3796-
dc.citation.endPage3805-
dc.description.journalRegisteredClassscie-
dc.description.journalRegisteredClassscopus-
dc.identifier.wosid000318702200023-
dc.identifier.scopusid2-s2.0-84877773700-
dc.relation.journalWebOfScienceCategoryAutomation & Control Systems-
dc.relation.journalWebOfScienceCategoryEngineering, Electrical & Electronic-
dc.relation.journalWebOfScienceCategoryInstruments & Instrumentation-
dc.relation.journalResearchAreaAutomation & Control Systems-
dc.relation.journalResearchAreaEngineering-
dc.relation.journalResearchAreaInstruments & Instrumentation-
dc.type.docTypeArticle-
dc.subject.keywordPlusVIBRATION SUPPRESSION-
dc.subject.keywordPlusMANIPULATOR-
dc.subject.keywordPlusHAND-
dc.subject.keywordPlusIMPLEMENTATION-
dc.subject.keywordPlusSERVICE-
dc.subject.keywordAuthorEnveloping-
dc.subject.keywordAuthorflexibility-
dc.subject.keywordAuthorpick and place-
dc.subject.keywordAuthorrobotic grasper-
dc.subject.keywordAuthorrobotic hand-
dc.subject.keywordAuthorself-stability-
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KIST Article > 2013
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