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The Cartesian Hand: In-Hand Manipulation with All-Linear Fingers

13 pointsby 1d agogeneralroboticslab.com
3 comments
1h agoHN ↗

It works best on problems which are strongly Cartesian. The chopsticks demo shows the limitations of this. The gripper can pick up two chopsticks, but it can't do much with them, because it can't rotate them to bring them together at the points. But it seems to be good for lab equipment with simple geometry.

Also, where are the motors? Inside the gripper, or at the other end of cables?

5m agoHN ↗

Rotational screw-on caps are not Cartesian, and this excels at dealing with them.

I'm very impressed with this.

Re: chopsticks, oh but it can! It can roll one chopstick between one pair of grippers. Do that while holding the tip against a fixed object and you'll tilt the chopstick. Once you get the tips touching, it can use them.

The motors are inside those chonky things just outside the fingertips. I'm guessing hobby servos, which are tiny cheap and strong.