Slip detection plays a vital role in robotic manipulation and it has long been a challenging problem in the robotic community. In this paper, we propose a new method based on deep neural network (DNN) to detect slip. The training data is acquired by a GelSight tactile sensor and a camera mounted on a gripper when we use a robot arm to grasp and lift 94 daily objects with different grasping forc...

This paper presents our contribution to vision based robotic assistance for people with disabilities. The rehabilitative robotic arms currently available on the market are directly controlled by adaptive devices, which lead to increasing strain on the user’s disability. To reduce the need for user’s actions, we propose here several vision-based solutions to automatize the grasping of unknown ob...

Learning from demonstration (LfD) is a practical method for transferring skill knowledge human demonstrator to robot. Several studies have shown the effectiveness of LfD in robotic grasping tasks improve success rate and accelerate development new tasks. A well-designed device can effectively represent motion transfer skills robots. In this paper, an improved gripper-like exoskeleton with data ...

This paper features the trajectory planning design of a indigenously developed 4-Axis SCARA robot which is used for doing successful robotic manipulation task in the laboratory. Once, a trajectory is being designed and given as input to the robot, the robot’s gripper tip moves along that specified trajectory. Trajectories have to be designed in the work space only. The main idea of this paper i...

This paper uplores a game-theoretic approach to automatic planning of sensor·based robotic manipulation programs. To win the game, the robot must provably attain a specified task swc. The robot moves by cboosing 1 control signal. and nature moves by cboosing a sensor signal. Planning is accomplished by searching lhe game O"ee. In some task domllnJ. lhe llppf'OII:h provides a slrllght!orwan1 met...

When parts to be handled are less than one millimeter in size, adhesive forces between gripper and object can be signiicant compared to gravitational forces. These adhesive forces arise primarily from surface tension , Van der Waals, and electrostatic attractions and can be a fundamental limitation to part handling in a gas environment. While it is possible to fabricate miniature versions of co...

In this paper, we present a recent survey on robotic grippers. In many cases, modern grippers outperform their older counterparts which are now stronger, more repeatable, and faster. Technological advancements have also attributed to the development of gripping various objects. This includes soft fabrics, microelectromechanical systems, and synthetic sheets. In addition, newer materials are bei...

Most robotic grasping tasks assume a stationary or fixed object. In this paper, we explore the requirements for tracking and grasping a moving object. The focus of our work is to achieve a high level of interaction between a real-time vision system capable of tracking moving objects in 3-D and a robot arm with gripper that can be used to pick up a moving object. There is an interest in explorin...