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Title: Benchmarking Planar Rotation Capabilities of Robot Hands with Fingers
Rotation manipulation tasks are a fundamental component of manipulation, however few benchmarks directly measure the limits of a hand's ability to rotate objects. This paper presents two benchmarks for quantitatively measuring the rotation manipulation capabilities of two-fingered hands. These benchmarks exists to augment the Asterisk Test to consider rotation manipulation ability. We propose two benchmarks: the first assesses a hand's limits to rotate objects clockwise and counterclockwise with minimal translation, and the second assesses how rotation manipulation impacts a hand's in-hand translation performance. We demonstrate the utility of these rotation benchmarks using three generic robot hand designs: 1) an asymmetrical two-linked versus one-linked gripper (2v1), 2) a symmetrical two-linked gripper (2v2), and 3) a symmetrical three-linked gripper (3v3). We conclude with a brief comparison between the hand designs and a observations about contact point selection for manipulation tasks, informed from our benchmark results.  more » « less
Award ID(s):
1925715 1730126
NSF-PAR ID:
10451866
Author(s) / Creator(s):
; ; ;
Date Published:
Journal Name:
Benchmarking Planar Rotation Capabilities of Robot Hands with Fingers
Page Range / eLocation ID:
559 to 565
Format(s):
Medium: X
Sponsoring Org:
National Science Foundation
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