This paper proposes a new method for grasping an object positioned in a cluttered workspace. The grasping of an object usually relies on the analysis of its contour in order to determine the contact points for the ngers of the gripper. The planning of the positioning of the real gripper in the workspace at the chosen points is often considered as a separate problem. The method proposed in this ...

Pick-and-place operations for transporting objects precisely to a target position are prominent function of (soft-) robotic systems. Therefore, there is great interest in industry improve the characteristic gripping, holding, and releasing methods involved pick-and-place operations. Within living organisms such as octopi, nature demonstrates that multiple types conjointly working actuators requ...

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This paper deals with the mechatronic design of a novel self-sensing motor-to-joint transmission to be used for the actuation of robotic dexterous manipulators. Backdrivability, mechanical simplicity and efficient flexure joint structures are key concepts that have guided the mechanical design rationale to provide the actuator with force sensing capabilities. Indeed, a self-sensing characterist...

We consider the problem of scheduling operations in a robotic cell processing a single part type. Each machine in the cell has a one-unit input buffer and a one-unit output buffer. The machines and buffers are served by one single gripper robot. The domain considered is free-pickup cells with additive intermachine travel time. The processing constraints specify the cell to be a flow shop. The o...

We present a solution for robotic docking, i.e. approach of a robot toward a table so that it can grasp an object. One constraint is that our PeopleBot robot has a short non-extendable gripper and wide ‘shoulders’. Therefore, it must approach the table at a perpendicular angle so that the gripper can reach over it. Another constraint is the use of vision to locate the object. Only the angle is ...

Stable grasping is essential for assistive robots aiding individuals with severe motor–sensory disabilities in their everyday lives. Slip detection can prevent unstably grasped objects from falling out of the gripper and causing accidents. Recent research on slip focuses tactile sensing; however, not every robot arm be equipped such sensors. In this paper, we propose a method solely based data ...

Miniature, lightweight, miser actuators that operate similar to biological muscles can be used to develop robotic devices with unmatched capabilities to impact many technology areas. Electroactive polymers (EAP) offer the potential to producing such actuators and their main attractive feature is their ability to induce relatively large bending or longitudinal strain. Generally, these materials ...

In recent years, the use of robots has been considered due to labor shortage. this situation, utilization soft robot grippers that can grasp various objects is expected in industrial world. The purpose study develop a robotic hand with an adhesion pad attached jamming gripper enable grasping flat and complex shaped objects. we have developed be switched between suction by switch control. This m...