1. Everyday Finger: A Robotic Finger that Meets the Needs of Everyday Interactive Manipulation
- Author
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Ornelas, Rubén Castro, Cantú, Tomás, Sperandio, Isabel, Slocum, Alexander H., and Agrawal, Pulkit
- Subjects
Computer Science - Robotics - Abstract
We provide the mechanical and dynamical requirements for a robotic finger capable of performing thirty diverse everyday tasks. To match these requirements, we present a finger design based on series-elastic actuation that we call the everyday finger. Our focus is to make the fingers as compact as possible while achieving the desired performance. We evaluated everyday fingers by constructing a two-finger robotic hand that was tested on various performance parameters and tasks like picking and placing dishes in a rack, picking thin and flat objects like paper and delicate objects such as strawberries. Videos are available at the project website: https://sites.google.com/view/everydayfinger., Comment: 9.5 pages + references, 14 figures, extended/updated version of article to appear in IEEE ICRA 2024 proceedings
- Published
- 2024