Minimal Grasper: A Practical Robotic Grasper With Robust Performance for Pick-and-Place Tasks
DC Field | Value | Language |
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dc.contributor.author | Jin, JingFu | - |
dc.contributor.author | Yuen, Shang Li | - |
dc.contributor.author | Lee, Young Hoon | - |
dc.contributor.author | Jun, ChangHyun | - |
dc.contributor.author | Kim, Youngji Brigid | - |
dc.contributor.author | Lee, Sungon | - |
dc.contributor.author | You, Bum-Jae | - |
dc.contributor.author | Doh, Nakju Lett | - |
dc.date.accessioned | 2021-09-05T22:19:16Z | - |
dc.date.available | 2021-09-05T22:19:16Z | - |
dc.date.created | 2021-06-14 | - |
dc.date.issued | 2013-09 | - |
dc.identifier.issn | 0278-0046 | - |
dc.identifier.uri | https://scholar.korea.ac.kr/handle/2021.sw.korea/102344 | - |
dc.description.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. | - |
dc.language | English | - |
dc.language.iso | en | - |
dc.publisher | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC | - |
dc.subject | VIBRATION SUPPRESSION | - |
dc.subject | MANIPULATOR | - |
dc.subject | HAND | - |
dc.subject | IMPLEMENTATION | - |
dc.subject | SERVICE | - |
dc.title | Minimal Grasper: A Practical Robotic Grasper With Robust Performance for Pick-and-Place Tasks | - |
dc.type | Article | - |
dc.contributor.affiliatedAuthor | Doh, Nakju Lett | - |
dc.identifier.doi | 10.1109/TIE.2012.2205349 | - |
dc.identifier.scopusid | 2-s2.0-84877773700 | - |
dc.identifier.wosid | 000318702200023 | - |
dc.identifier.bibliographicCitation | IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, v.60, no.9, pp.3796 - 3805 | - |
dc.relation.isPartOf | IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS | - |
dc.citation.title | IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS | - |
dc.citation.volume | 60 | - |
dc.citation.number | 9 | - |
dc.citation.startPage | 3796 | - |
dc.citation.endPage | 3805 | - |
dc.type.rims | ART | - |
dc.type.docType | Article | - |
dc.description.journalClass | 1 | - |
dc.description.journalRegisteredClass | scie | - |
dc.description.journalRegisteredClass | scopus | - |
dc.relation.journalResearchArea | Automation & Control Systems | - |
dc.relation.journalResearchArea | Engineering | - |
dc.relation.journalResearchArea | Instruments & Instrumentation | - |
dc.relation.journalWebOfScienceCategory | Automation & Control Systems | - |
dc.relation.journalWebOfScienceCategory | Engineering, Electrical & Electronic | - |
dc.relation.journalWebOfScienceCategory | Instruments & Instrumentation | - |
dc.subject.keywordPlus | VIBRATION SUPPRESSION | - |
dc.subject.keywordPlus | MANIPULATOR | - |
dc.subject.keywordPlus | HAND | - |
dc.subject.keywordPlus | IMPLEMENTATION | - |
dc.subject.keywordPlus | SERVICE | - |
dc.subject.keywordAuthor | Enveloping | - |
dc.subject.keywordAuthor | flexibility | - |
dc.subject.keywordAuthor | pick and place | - |
dc.subject.keywordAuthor | robotic grasper | - |
dc.subject.keywordAuthor | robotic hand | - |
dc.subject.keywordAuthor | self-stability | - |
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