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dc.contributor.authorSanfilippo, Filippo
dc.contributor.authorZhang, Houxiang
dc.contributor.authorPettersen, Kristin Ytterstad
dc.contributor.authorSalvietti, G.
dc.contributor.authorPrattichizzo, Domenico
dc.date.accessioned2017-12-13T12:25:06Z
dc.date.available2017-12-13T12:25:06Z
dc.date.created2014-10-21T14:10:20Z
dc.date.issued2014
dc.identifier.isbn978-1-4799-3126-2
dc.identifier.urihttp://hdl.handle.net/11250/2471176
dc.description.abstractThis 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.isoengnb_NO
dc.publisherInstitute of Electrical and Electronics Engineers (IEEE)nb_NO
dc.relation.ispartofBiomedical Robotics and Biomechatronics (2014 5th IEEE RAS & EMBS International Conference on)
dc.relation.urihttp://filipposanfilippo.inspitivity.com/publications/modgrasp-an-open-source-rapid-prototyping-framework-for-designing-low-cost-sensorised-modular-hands.pdf
dc.titleModGrasp: An open-source rapid-prototyping framework for designing low-cost sensorised modular handsnb_NO
dc.typeChapternb_NO
dc.description.versionsubmittedVersionnb_NO
dc.source.pagenumber951-957nb_NO
dc.identifier.doi10.1109/BIOROB.2014.6913903
dc.identifier.cristin1165660
dc.relation.projectNorges forskningsråd: 223254nb_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.unitcode194,64,93,0
cristin.unitcode194,63,25,0
cristin.unitnameInstitutt for havromsoperasjoner og byggteknikk
cristin.unitnameInstitutt for teknisk kybernetikk
cristin.ispublishedtrue
cristin.fulltextpreprint
cristin.qualitycode1


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