In this paper, we present an overview of our work in the development, realization, dynamic analysis, and simulation of an innovative sensing method for the prevention of object slip during robotic grasping and manipulation. The new sensor is biologically inspired, and measures the extension of a rubber skin to detect impending slip before it occurs, and to provide feedback for active control of...

In the present paper, an intelligent methodology has been used for assembly tool/gripper selection and determination of the optimal assembly sequence. Since it is well known that assembly sequence planning (ASP) is an NP-hard combinatorial optimization problem, in particular, with increase in number of components in the assembly, the computational complexity involved in searching for the optima...

We present an algorithm that attempts to identify object locations suitable for grasping using a parallel gripper, locations which we refer to as “graspable features”. As sensor input, we use point clouds from a depth camera, from which we extract a gripper-sized voxel grid containing the potential grasp area and encoding occupied, empty, and unknown regions of space. The result is then matched...

The paper presents the development of an intelligent robot system for the autonomous picking of many thousands of different hard goods (cardboard boxes) and soft goods (textiles packed in transparent foils) out from unstructured heaps in commission tasks of catalogue sale companies. For task solution, a 6-axes industrial robot is employed, which can be equipped with various mechatronic grippers...

Grasping a variety of objects is still an open problem in robotics, especially for cluttered scenarios. Multimodal grasping has been recognized as promising strategy to improve the manipulation capabilities robotic system. This work presents novel grasp planning algorithm hybrid grippers that allows multiple modalities. In particular, planner manages two-finger grasps, single or double suction ...