OpenHand Model T (Pin Base) Performance (Autonomous Grasping)

Video showing the performance and grasping capabilities of the Model T hand, version 0.5 with pin base joints as opposed to flexure base joints. In comparison to the alternative Model T hand, this version exhibits less out-of-plane compliance.

All grasping motions utilize the same open-loop torque control input. Final grasp stability is determined by the mechanical adaptability of the underactuated fingers.

Grasping was autonomous with open-loop control. Objects were roughly localized by a Gen 1 Kinect, and WAM would approach the object either from above or the side depending on the object height.

The same open-loop actuator commands were sent to the hand in each case, regardless of object size or geometry. The passive, mechanical adaptability of the hand helps ensure grasp stability.

All files and further descriptions are released as open-source at:

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