Abstract
In this paper, we describe the realization and control of robotic end-effectors that are designed to achieve high operational versatility with limited constructive complexity. The design of such end-effectors, which can be regarded either as low-complexity robot hands or as highly versatile robot grippers, is based on the intentional exploitation of nonholonomic effects that occur in rolling. While the potential usefulness of manipulation by rolling has been theoretically established in the literature, several problems in the practical implementation of the concept remained open. In particular, manipulation of parts of complex, and a priori unknown, shape is considered in this paper. Experimental low-complexity grippers that realize dexterous manipulation by rolling are also described.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
