Grasping without squeezing: Shear adhesion gripper with fibrillar thin film

Proceedings - IEEE International Conference on Robotics and Automation

Volumn 2015-June, Issue June, 2015, Pages 2305-2312

  Hawkes, Elliot W ^a   Christensen, David L ^a   Han, Amy Kyungwon ^a   Jiang, Hao ^a   Cutkosky, Mark R ^a  

^a Stanford University   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

ADHESIVES; AGRICULTURAL ROBOTS; FRICTION; GRIPPERS; ROBOTICS; TEXTURES;

CONTACT AREAS; CONVEX OBJECTS; GRIP FORCE; HIGH COEFFICIENT-OF-FRICTION; NORMAL FORCES; ROBOTIC GRIPPERS; SHEAR FORCE; TEXTURED SURFACE;

THIN FILMS;

EID: 84938228622     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ICRA.2015.7139505     Document Type: Conference Paper

References (18)

1. M. Rakic, "The belgrade hand prosthesis," Proc. Instn. Mech. Engrs, vol. 183, pp. 1968-69, 1969
2. J. K. Salisbury and J. J. Craig, "Articulated hands force control and kinematic issues," The International Journal of Robotics Research, vol. 1, no. 1, pp. 4-17, 1982
3. S. Jacobsen, E. Iversen, D. Knutti, R. Johnson, and K. Biggers, "Design of the Utah/mit dextrous hand," in Robotics and Automation. Proceedings. 1986 IEEE International Conference on, vol. 3. IEEE, 1986, pp. 1520-1532
4. M. Ciocarlie and P. Allen, "A constrained optimization framework for compliant underactuated grasping," Mech. Sciences, vol. 2, no. 1, pp. 17-26, 2011
5. M. G. Catalano, G. Grioli, A. Serio, E. Farnioli, C. Piazza, and A. Bicchi, "Adaptive synergies for a humanoid robot hand. " in Humanoids, 2012, pp. 7-14
6. F. Lotti, P. Tiezzi, G. Vassura, L. Biagiotti, G. Palli, and C. Melchiorri, "Development of ub hand 3: Early results," in Robotics and Automation, 2005. ICRA 2005. Proceedings of the 2005 IEEE International Conference on. IEEE, 2005, pp. 4488-4493
7. A. M. Dollar and R. D. Howe, "Joint coupling design of underactuated grippers," in ASME 2006 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2006, pp. 903-911
8. L. U. Odhner, R. R. Ma, and A. M. Dollar, "Open-loop precision grasping with underactuated hands inspired by a human manipulation strategy," Automation Science and Engineering, IEEE Transactions on, vol. 10, no. 3, pp. 625-633, 2013
9. D. Aukes, S. Kim, P. Garcia, A. Edsinger, and M. R. Cutkosky, "Selectively compliant underactuated hand for mobile manipulation," in (ICRA), 2012 IEEE. IEEE, 2012, pp. 2824-2829
10. M. C. Carrozza, C. Suppo, F. Sebastiani, B. Massa, F. Vecchi, R. Lazzarini, M. R. Cutkosky, and P. Dario, "The spring hand: development of a self-adaptive prosthesis for restoring natural grasping," Autonomous Robots, vol. 16, no. 2, pp. 125-141, 2004
11. C. Melchiorri and M. Kaneko, "Robot hands," Springer Handbook of Robotics, pp. 345-360, 2008
12. D. Prattichizzo and J. C. Trinkle, "Grasping," Springer handbook of robotics, pp. 671-700, 2008
13. E. Brown, N. Rodenberg, J. Amend, A. Mozeika, E. Steltz, M. R. Zakin, H. Lipson, and H. M. Jaeger, "Universal robotic gripper based on the jamming of granular material," Proceedings of the National Academy of Sciences, vol. 107, no. 44, pp. 18 809-18 814, 2010
14. S. Song, C. Majidi, and M. Sitti, "Geckogripper: A soft, inflatable robotic gripper using gecko-inspired elastomer micro-fiber adhesives," in Intelligent Robots and Systems (IROS), 2013 IEEE/RSJ International Conference on. IEEE, 2014, pp. 4624-4629
15. P. Day, E. V. Eason, N. Esparza, D. Christensen, and M. Cutkosky, "Microwedge machining for the manufacture of directional dry adhesives," J Micro and Nano-Man., vol. 1, no. 1, p. 011001, 2013
16. B.-m. Z. Newby and M. K. Chaudhury, "Friction in adhesion," Langmuir, vol. 14, pp. 4865-4872, 1998
17. D. Christensen, E. W. Hawkes, A. Suresh, and M. Cutkosky, "utugs: Enabling microrobots to deliver macro forces with controllable, bioinspired adhesives," in International Conference on Robotics and Automation, 2014, submitted
18. E. W. Hawkes, D. L. Christensen, E. V. Eason, M. A. Estrada, M. Heverly, E. Hilgemann, H. Jiang, M. T. Pope, A. Parness, and M. R. Cutkosky, "Dynamic surface grasping with directional adhesion," in Intelligent Robots and Systems (IROS), 2013 IEEE/RSJ International Conference on. IEEE, 2013, pp. 5487-5493.