@article {dollar_robust_2006,
	title = {A robust compliant grasper via shape deposition manufacturing},
	journal = {IEEE/ASME Transactions on Mechatronics},
	volume = {11},
	year = {2006},
	pages = {154{\textendash}161},
	abstract = {Joint compliance can enable successful robot grasping despite uncertainties in target object location. Compliance also enhances manipulator robustness by minimizing contact forces in the event of unintended contacts or impacts. In this paper, we describe the design, fabrication, and evaluation of a novel compliant robotic grasper constructed using polymer-based shape deposition manufacturing. Joints are formed by elastomeric flexures, and actuator and sensor components are embedded in tough rigid polymers. The result is a robot gripper with the functionality of conventional metal prototypes for grasping in unstructured environments but with robustness properties that allow for large forces due to inadvertent contact.},
	keywords = {actuators, compliance control, contact force control, control system synthesis, elastomeric flexures, elastomers, Fabrication, force control, grippers, joint compliance, manipulator robustness, manipulators, Polymers, Pulp manufacturing, rapid prototyping, robot hand design, Robot sensing systems, robotic grasping, robust compliant grasper, robust control, Robustness, Shape, shape deposition manufacturing, Uncertainty, unstructured environments},
	issn = {1083-4435},
	doi = {10.1109/TMECH.2006.871090},
	author = {Dollar, A.M. and Howe, R.D.}
}
