dc.contributor.author | Sanfilippo, Filippo | |
dc.contributor.author | Zhang, Houxiang | |
dc.contributor.author | Pettersen, Kristin Ytterstad | |
dc.contributor.author | Salvietti, G. | |
dc.contributor.author | Prattichizzo, Domenico | |
dc.date.accessioned | 2017-12-13T12:25:06Z | |
dc.date.available | 2017-12-13T12:25:06Z | |
dc.date.created | 2014-10-21T14:10:20Z | |
dc.date.issued | 2014 | |
dc.identifier.isbn | 978-1-4799-3126-2 | |
dc.identifier.uri | http://hdl.handle.net/11250/2471176 | |
dc.description.abstract | This paper introduces ModGrasp, an open-source virtual and physical rapid-prototyping framework that allows for the design, simulation and control of low-cost sensorised modular hands. By combining the rapid-prototyping approach with the modular concept, different manipulator configurations can be modelled. A real-time one-to-one correspondence between virtual and physical prototypes is established. Different control algorithms can be implemented for the models. By using a low-cost sensing approach, functions for torque sensing at the joint level, sensitive collision detection and joint compliant control are possible. A 3-D visualization environment provides the user with an intuitive visual feedback. As a case study, a three-fingered modular manipulator is presented. Related simulations are carried out to validate efficiency and flexibility of the proposed rapid-prototyping framework. | nb_NO |
dc.language.iso | eng | nb_NO |
dc.publisher | Institute of Electrical and Electronics Engineers (IEEE) | nb_NO |
dc.relation.ispartof | Biomedical Robotics and Biomechatronics (2014 5th IEEE RAS & EMBS International Conference on) | |
dc.relation.uri | http://filipposanfilippo.inspitivity.com/publications/modgrasp-an-open-source-rapid-prototyping-framework-for-designing-low-cost-sensorised-modular-hands.pdf | |
dc.title | ModGrasp: An open-source rapid-prototyping framework for designing low-cost sensorised modular hands | nb_NO |
dc.type | Chapter | nb_NO |
dc.description.version | submittedVersion | nb_NO |
dc.source.pagenumber | 951-957 | nb_NO |
dc.identifier.doi | 10.1109/BIOROB.2014.6913903 | |
dc.identifier.cristin | 1165660 | |
dc.relation.project | Norges forskningsråd: 223254 | nb_NO |
dc.description.localcode | © 2014 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. | nb_NO |
cristin.unitcode | 194,64,93,0 | |
cristin.unitcode | 194,63,25,0 | |
cristin.unitname | Institutt for havromsoperasjoner og byggteknikk | |
cristin.unitname | Institutt for teknisk kybernetikk | |
cristin.ispublished | true | |
cristin.fulltext | preprint | |
cristin.qualitycode | 1 | |