Development of minimal grasper: Preliminary result of a simple and flexible enveloping grasper

Young Hoon Lee, Jing Fu Jin, Changjoo Nam, Jinhyun Kim, Nakju Lett Doh

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

Abstract

In this paper, we propose a new design of a flexible enveloping grasper for pick and place tasks with the low complexity in manipulation and task planning for the purpose of practical use in the near future. Flexible material for the grasper has many advantageous characteristics inherently including robustness against manipulation errors and the ability to increase contact area with a grasped object and the grasping force. Compliance of the grasper material also contributes to reduction in complexity of the processes such as the force control, sensor-motor coordination, and manipulation by self-adaptation. Two properties, flexibility and compliance, mentioned above help the proposed grasper minimize the internal forces in a passive manner and achieve the successful force distribution with self-adaptivity when performing enveloping grasping. In order to demonstrate our work, we have constructed 2 different prototypes of flexible enveloping grasper. Experimental results validate robust performances of the proposed grasper.

Original languageEnglish
Title of host publication2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
Pages1779-1784
Number of pages6
DOIs
Publication statusPublished - 2009 Dec 11
Event2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009 - St. Louis, MO, United States
Duration: 2009 Oct 112009 Oct 15

Publication series

Name2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009

Other

Other2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
CountryUnited States
CitySt. Louis, MO
Period09/10/1109/10/15

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Human-Computer Interaction
  • Control and Systems Engineering

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