Object grasping using a 1 DOF variable stiffness gripper actuated by a hybrid variable stiffness actuator

Byeong Sang Kim, Jae Bok Song

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

19 Citations (Scopus)

Abstract

For tasks requiring robot-environment interaction, compliant motion is important to ensure stable contact and operational safety. The compliant actuators such as a series elastic actuator and a variable stiffness actuator (VSA) are expected to be one of the promising solutions to provide a compliant motion. In this paper, we propose a gripper actuated by the hybrid variable stiffness actuator developed in our previous work to show how the VSA can improve the ability of grasping. The gripper, which is equipped with two symmetric 4-bar linkages, can conduct the position and stiffness control simultaneously, and the grasping force can be calculated by the estimated torque of the HVSA. The HVSA-actuated gripper is able to grasp fragile objects with compliant motion and the relatively heavy object with stiff motion. Furthermore, the features of the variable stiffness provide operational safety by adjusting the stiffness according to the task. In this study, the relationships between the joint torque and the grasping force, and between the joint stiffness and the Cartesian stiffness are analyzed to control the grasping force. From a series of experiments, it is shown that the gripper can grasp fragile objects such as an egg and a wine glass, as well as relatively heavy object without any soft cover and force/torque sensor.

Original languageEnglish
Title of host publication2011 IEEE International Conference on Robotics and Automation, ICRA 2011
Pages4620-4625
Number of pages6
DOIs
Publication statusPublished - 2011
Event2011 IEEE International Conference on Robotics and Automation, ICRA 2011 - Shanghai, China
Duration: 2011 May 92011 May 13

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Other

Other2011 IEEE International Conference on Robotics and Automation, ICRA 2011
CountryChina
CityShanghai
Period11/5/911/5/13

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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  • Cite this

    Kim, B. S., & Song, J. B. (2011). Object grasping using a 1 DOF variable stiffness gripper actuated by a hybrid variable stiffness actuator. In 2011 IEEE International Conference on Robotics and Automation, ICRA 2011 (pp. 4620-4625). [5979864] (Proceedings - IEEE International Conference on Robotics and Automation). https://doi.org/10.1109/ICRA.2011.5979864