In this paper we solve the problem of estimating the relative pose between a robot’s gripper and a camera mounted rigidly on the gripper in situations where the rotation of the gripper w.r.t. the robot global coordinate system is not known. It is a variation of the so called hand-eye calibration problem. We formulate it as a problem of seven equations in seven unknowns and solve it using the Gr...

It is often suggested that hand prostheses and robot grippers must possess a kinematic structure that is similar to those of the natural human hand [1-4]. Such structure allows better adaptation of the gripper to the size and the shape of the grasped object and better cosmetic effect. Anthropomorphic hands with a large number of joints are highly dexterous, but their independent joint control r...

In this paper, we address the issue of learning and representing object grasp affordances. Our first aim is to organize and memorize, independently of grasp information sources, the whole knowledge that an agent has about the grasping of an object, in order to facilitate reasoning on grasping solutions and their likelihood of success. By grasp affordance, we refer to the the different ways to p...

An endoscopy is a tool that used to examine the interior of hollow organ or cavity body by inserting directly into organ. However, intestinal not friendly patients due discomfort, and it can easily cause damage even perforation use rigid materials endoscopy. Here, we provide an earthworm-based soft robot equipped with gripper for application on exams surgery. The composed frontal radial actuato...

Small RNAs guide repressive chromatin modifications to regions of the genome containing transposons and repeats. An Arabidopsis genetic screen reveals that the guidance machinery includes a novel ATPase complex that could act as a dynamic molecular gripper.

MARS greenhouse needs on-board arms that are capable of manipulating objects such as plant trays, fruits, vegetables and so on. Grasping and manipulation of objects have been a challenging task for robots. It is important that the manipulator performs these tasks accurately and faster with out damaging the object. The complex grasping task can be defined as object contact control and manipulati...

Although tissue and cell manipulation nowadays is a common task in biomedical analysis, there are still many different ways to accomplish it, most of which are still not sufficiently general, inexpensive, accurate, efficient or effective. Several problems arise both for in vivo or in vitro analysis, such as the maximum overall size of the device and the gripper jaws (like in minimally-invasive ...

In this paper we present the swing-up regrasping problem where an object is manipulated using a robotic arm around a point pinched by the arm’s gripper. The aim of the regrasping is to manipulate the object from an initial angle to regrasp it on a new desired angle relative to the gripper. The pinching point functions as a semi-active joint where the gripper is able to apply only frictional tor...

In this work we experimentally demonstrate (a) that the holding strength of universal jamming grippers increases as a function of the jamming pressure to greater than three atmospheres, and (b) that jamming grippers can be operated in the deep sea in ambient pressures exceeding one hundred atmospheres, where such high jamming pressures can be readily achieved. Laboratory experiments in a pressu...

Research and development in robotics and industrial automation has created a need for good grasp planning algorithms for a variety of object shapes and hand types. This in turn has stimulated research on the inherent computational geometry of grasping. The purpose of this paper is to survey some of the recent grasping results, algorithms, and ideas. We will place particular emphasis on research...