E-004

A Summary of the Design and Realization of a Robotic Finger based on Innovative Concepts

Authors: Giorgio Bartolini and Mauro Coccoli
Affiliation: G. Bartolini is with University of Cagliari,
Department of Electrical and Electronic Engineering
piazza d'Armi - 09123 Cagliari, Italy
e-mail giob@dist.unige.it

M. Coccoli is with University of Genova,
Department of Communication, Computer, and Systems Science
via Opera Pia, 13 - 16145 Genova, Italy
e-mail coccoli@dist.unige.it

Abstract
The aim of this paper is that of summarizing the experience of design and realization of a "homemade" robotic finger based on some non-conventional ideas. The device which is presented in this paper is the exploitation of some concepts expressed in the context of an EC funded project called AMADEUS: the "elephant-trunk" principle is the basis and it is used for the implementation of an underwater gripper that we actuated by mean of high bandwidth electro-hydraulic devices working with oil at low pressure. The whole system is then controlled by a sliding mode based technique. The special manipulator based on the use of such fingers as described in this paper is devoted to delicate deep underwater sampling operations.

mauro coccoli
Dist Dept. of Communication, Computer, and Systems Science
University of Genova
via opera pia, 13
16145 Genova, Italy
tel. +39.010353.2284
2071
2073
fax +39.010353.2154
coccoli@dist.unige.it

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