Minimal grasper: A practical robotic grasper with robust performance for pick-and-place tasks

Jingfu Jin, Shang Li Yuen, Young Hoon Lee, Changhyun Jun, Youngji Brigid Kim, Sungon Lee, Bum Jae You, Nakju Lett Doh

Research output: Contribution to journalArticle

13 Citations (Scopus)

Abstract

In this paper, a flexible enveloping grasper is proposed for pick-and-place tasks with low manipulation and task planning complexity for practical applications. The proposed grasper has two main characteristics: self-adaptivity and flexibility. Self-adaptivity means that the proposed grasper can grip an object in a self-adaptive way such that various process complexities (e.g., sensing, force control, and sensor-motor coordination) are significantly reduced. By flexibility, we mean that, by using a flexible material, a stable grip can be implemented to cause increased friction between the grasper and the target object as a result of increased contact area. These two properties help the proposed grasper to minimize internal forces in a passive manner and to achieve successful force distribution with self-adaptivity when performing enveloping grasping. Three sets of experiments were performed with an average success rate of 93.2% in pick-and-place tasks.

Original languageEnglish
Article number6221981
Pages (from-to)3796-3805
Number of pages10
JournalIEEE Transactions on Industrial Electronics
Volume60
Issue number9
DOIs
Publication statusPublished - 2013

Keywords

  • Enveloping
  • flexibility
  • pick and place
  • robotic grasper
  • robotic hand
  • self-stability

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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