Minimal Grasper: A Practical Robotic Grasper With Robust Performance for Pick-and-Place Tasks
- Authors
- Jin, JingFu; Yuen, Shang Li; Lee, Young Hoon; Jun, ChangHyun; Kim, Youngji Brigid; Lee, Sungon; You, Bum-Jae; Doh, Nakju Lett
- Issue Date
- 9월-2013
- Publisher
- IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
- Keywords
- Enveloping; flexibility; pick and place; robotic grasper; robotic hand; self-stability
- Citation
- IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, v.60, no.9, pp.3796 - 3805
- Indexed
- SCIE
SCOPUS
- Journal Title
- IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
- Volume
- 60
- Number
- 9
- Start Page
- 3796
- End Page
- 3805
- URI
- https://scholar.korea.ac.kr/handle/2021.sw.korea/102344
- DOI
- 10.1109/TIE.2012.2205349
- ISSN
- 0278-0046
- 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.
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Collections - Executive Vice President for Research > Institute of Convergence Science > 1. Journal Articles
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