Design of parallel-jaw gripper tip surfaces for robust grasping

Proceedings - IEEE International Conference on Robotics and Automation

Volumn , Issue , 2017, Pages 2831-2838

  Guo, Menglong ^a   Gealy, David V ^a   Liang, Jacky ^a   Mahler, Jeffrey ^a   Goncalves, Aimee ^a   McKinley, Stephen ^a   Ojea, Juan Aparicio ^b   Goldberg, Ken ^a  

^a UNIVERSITY OF CALIFORNIA   (United States)

^b Siemens Research   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

3D PRINTERS; AUTOMATION; MACHINE DESIGN; ROBOTICS; ROBOTS; RUBBER; SILICONES;

AD HOC METHODS; DATA-DRIVEN OPTIMIZATION; PARAMETER SPACES; ROBOT GRASPING; SILICON RUBBERS; SILICONE POLYMERS; SILICONE SURFACES; SURFACE DESIGN;

GRIPPERS;

EID: 85027963653     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ICRA.2017.7989330     Document Type: Conference Paper

References (37)

1. R. Brooks, "Research needed on robot hands", Jan 2017. [Online]. Available: https://rodneybrooks.com/research-needed-on-robot-hands/
2. rethink robotics, "Sawyer user guide for intera 3.3 software", http://mfg.rethinkrobotics.com/mfg-mediawiki-1.22.2/images/1/1a/Sawyer User Guide 3.3.pdf, 2016.
3. P. Crowther, "Yumi® irb 15000 overview", https://library.e.abb.com/public/4bcf2603f76f49088b80f7f1c49045eb/IRB14000ExternalVersionFinal.pdf, 2015.
4. A. Bicchi and A. Marigo, "Dexterous grippers: Putting nonholonomy to work for fine manipulation", The International Journal of Robotics Research, vol. 21, no. 5-6, pp. 427-442, 2002.
5. A. Bicchi and V. Kumar, "Robotic grasping and contact: A review", in IEEE International Conference on Robotics and Automation. Citeseer, 2000, pp. 348-353.
6. A. M. Dollar and R. D. Howe, "The highly adaptive sdm hand: Design and performance evaluation", The international journal of robotics research, vol. 29, no. 5, pp. 585-597, 2010.
7. A. J. Crosby, M. Hageman, and A. Duncan, "Controlling polymer adhesion with pancakes", Langmuir, vol. 21, no. 25, pp. 11 738-11 743, 2005.
8. K. Murakami and T. Hasegawa, "Novel fingertip equipped with soft skin and hard nail for dexterous multi-fingered robotic manipulation", in Robotics and Automation, 2003. Proceedings. ICRA'03. IEEE International Conference on, vol. 1. IEEE, 2003, pp. 708-713.
9. K. Hosoda, Y. Tada, and M. Asada, "Anthropomorphic robotic soft fingertip with randomly distributed receptors", Robotics and Autonomous Systems, vol. 54, no. 2, pp. 104-109, 2006.
10. E. V. Eason, E. W. Hawkes, M. Windheim, D. L. Christensen, T. Libby, and M. R. Cutkosky, "Stress distribution and contact area measurements of a gecko toe using a high-resolution tactile sensor", Bioinspiration & biomimetics, vol. 10, no. 1, p. 016013, 2015.
11. M. Ciocarlie and P. Allen, "A constrained optimization framework for compliant underactuated grasping", Mech. Sciences, vol. 2, no. 1, pp. 17-26, 2011.
12. I. Kao, K. M. Lynch, and J. W. Burdick, "Contact modeling and manipulation", in Springer Handbook of Robotics. Springer, 2016, pp. 931-954.
13. R. Kleinberg, A. Slivkins, and E. Upfal, "Multi-armed bandits in metric spaces", in Proceedings of the fortieth annual ACM symposium on Theory of computing. ACM, 2008, pp. 681-690.
14. R. Y. Rubinstein and D. P. Kroese, The cross-entropy method: a unified approach to combinatorial optimization, Monte-Carlo simulation and machine learning. Springer Science & Business Media, 2013.
15. J. Mahler, F. T. Pokorny, B. Hou, M. Roderick, M. Laskey, M. Aubry, K. Kohlhoff, T. Kröger, J. Kuffner, and K. Goldberg, "Dex-net 1.0: A cloud-based network of 3d objects for robust grasp planning using a multi-armed bandit model with correlated rewards", ICRA, 2016.
16. G. Berselli and G. Vassura, "Differentiated layer design to modify the compliance of soft pads for robotic limbs", in Robotics and Automation, 2009. ICRA'09. IEEE International Conference on. IEEE, 2009, pp. 1285-1290.
17. D. S. Chathuranga, Z. Wang, Y. Noh, T. Nanayakkara, and S. Hirai, "A soft three axis force sensor useful for robot grippers", in 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Oct. 2016, pp. 5556-5563.
18. M. Cutkosky, J. Jourdain, and P. Wright, "Skin materials for robotic fingers", in Robotics and Automation. Proceedings. 1987 IEEE International Conference on, vol. 4. IEEE, 1987, pp. 1649-1654.
19. A. Parness, D. Soto, N. Esparza, N. Gravish, M. Wilkinson, K. Autumn, and M. Cutkosky, "A microfabricated wedge-shaped adhesive array displaying gecko-like dynamic adhesion, directionality and long lifetime", Journal of The Royal Society Interface, 2009.
20. E. W. Hawkes, D. L. Christensen, A. K. Han, H. Jiang, and M. R. Cutkosky, "Grasping without squeezing: Shear adhesion gripper with fibrillar thin film", in 2015 IEEE International Conference on Robotics and Automation (ICRA). IEEE, 2015, pp. 2305-2312.
21. I. Kao, K. M. Lynch, and J. W. Burdick, Contact Modeling and Manipulation. Cham: Springer International Publishing, 2016, pp. 931-954. [Online]. Available: http://dx.doi.org/10.1007/978-3-319-32552-1 37
22. H.-Y. Han, A. Shimada, and S. Kawamura, "Analysis of friction on human fingers and design of artificial fingers", in Proceedings of IEEE International Conference on Robotics and Automation, vol. 4, Apr. 1996, pp. 3061-3066 vol. 4.
23. I. Kao and F. Yang, "Stiffness and contact mechanics for soft fingers in grasping and manipulation", IEEE Transactions on Robotics and Automation, vol. 20, no. 1, pp. 132-135, Feb. 2004.
24. M. Controzzi, M. D'Alonzo, C. Peccia, C. M. Oddo, M. C. Carrozza, and C. Cipriani, "Bioinspired fingertip for anthropomorphic robotic hands", Applied Bionics and Biomechanics, vol. 11, no. 1-2, pp. 25-38, 2014.
25. 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.
26. M. M. Shalaby, H. A. Hegazi, A. O. Nassef, and S. M. Metwalli, "Topology optimization of a compliant gripper using hybrid simulated annealing and direct search", in ASME 2003 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2003, pp. 641-648.
27. M. Ciocarlie, F. M. Hicks, R. Holmberg, J. Hawke, M. Schlicht, J. Gee, S. Stanford, and R. Bahadur, "The velo gripper: A versatile single-actuator design for enveloping, parallel and fingertip grasps", The International Journal of Robotics Research, vol. 33, no. 5, pp. 753-767, 2014.
28. T. Zhang and K. Goldberg, "Design of robot gripper jaws based on trapezoidal modules", in Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on, vol. 2. IEEE, 2001, pp. 1065-1070.
29. R. Saravanan, S. Ramabalan, N. G. R. Ebenezer, and C. Dharmaraja, "Evolutionary multi criteria design optimization of robot grippers", Applied Soft Computing, vol. 9, no. 1, pp. 159-172, 2009.
30. C. Lanni and M. Ceccarelli, "An optimization problem algorithm for kinematic design of mechanisms for two-finger grippers", Open Mechanical Engineering Journal, vol. 3, pp. 49-62, 2009.
31. E. Ruiz and W. Mayol-Cuevas, "Towards an objective evaluation of underactuated gripper designs", arXiv preprint arXiv:1601.04547, 2016.
32. K. Hsiao, M. Ciocarlie, and P. Brook, "Bayesian grasp planning", in ICRA 2011 Workshop on Mobile Manipulation: Integrating Perception and Manipulation, 2011.
33. J. Schulman, S. Levine, P. Moritz, M. I. Jordan, and P. Abbeel, "Trust region policy optimization", CoRR, abs/1502.05477, 2015.
34. T. L. Lai and H. Robbins, "Asymptotically efficient adaptive allocation rules", Advances in applied mathematics, vol. 6, no. 1, pp. 4-22, 1985.
35. G. Hitz, A. Gotovos, M.-É. Garneau, C. Pradalier, A. Krause, R. Y. Siegwart, et al., "Fully autonomous focused exploration for robotic environmental monitoring", in 2014 IEEE International Conference on Robotics and Automation (ICRA). IEEE, 2014, pp. 2658-2664.
36. S. Gupta, R. Girshick, P. Arbeláez, and J. Malik, "Learning rich features from rgb-d images for object detection and segmentation", in European Conference on Computer Vision. Springer, 2014, pp. 345-360.
37. R. A. Newcombe, A. J. Davison, S. Izadi, P. Kohli, O. Hilliges, J. Shotton, D. Molyneaux, S. Hodges, D. Kim, and A. Fitzgibbon, "Kinectfusion: Real-time dense surface mapping and tracking", in IEEE Int. Symp. on Mixed and augmented reality (ISMAR). IEEE, 2011, pp. 127-136.