This paper presents the design and analysis of a novel variable-stiffness robotic gripper, RobInLab VS gripper. The purpose is to have gripper that strong reliable as rigid grippers but adaptable soft grippers. achieved by designing modular fingers combine jamming material core with an external structure, made flexible materials. allows finger softly adapt object shapes when capsule not active,...

In this paper we present a visual servoing method based on a learned mapping between feature space and control space. Using a suitable recognition algorithm, we present and evaluate a complete method that simultaneously learns the appearance and control of a low cost robotic arm. The recognition part is trained using an action precedes perception approach. The novelty of this paper, apart from ...

This document presents a mathematical model of the states of a three-fingered robotic hand (Robotiq 3-Finger Adaptive Gripper) in quasistatic equilibrium with and without contact with an object. The mechanical coupling and the breakaway mechanism of the under-actuated robotic hand as well as its contact with the object are modeled as a hybrid system which is suitable for use for simulation, whi...

During robotic assembly of flexible payloads, gravity and inertial forces acting on these payloads may induce both static shape deformation and vibration of the thin-walled payloads. Static deformations, which arise from deformation of the part due to its own weight under the influence of gravity, lead to misalignment of mating points of the part. Unwanted vibrations, arising from inertial forc...

This paper presents a model for solving the problem of real-time neural estimation of stiffness characteristics for unknown objects. For that, an original neural architecture is proposed for a large scale robotic grasping systems applied for unknown object with unspecified stiffness characteristics. The force acquisition is based on tactile information from force sensors in robotic manipulator....

Efficiently grasping and releasing objects using robotic grippers is an essential step in assembly. This paper presents a low-cost four-finger adaptive gripper capable of performing stable reliable operations on irregular-shaped flat objects. Unlike other systems the fixture-to-fixture assembly, assembly process proposed does not rely any vision or six-axis force/torque sensors. Specifically, a...

The requirement for new flexible adaptive grippers is the ability to detect and recognize objects in their environments. It is known that robotic manipulators are highly nonlinear systems, and an accurate mathematical model is difficult to obtain, thus making it difficult no control using conventional techniques. Here, a novel design of an adaptive neuro fuzzy inference strategy (ANFIS) for con...

We investigate robotic assistants for dressing that can anticipate the motion of the person who is being helped. To this end, we use reinforcement learning to create models of human behavior during assistance with dressing. To explore this kind of interaction, we assume that the robot presents an open sleeve of a hospital gown to a person, and that the person moves their arm into the sleeve. Th...

This paper examines joint coupling in underactuated robotic grippers for unstructured environments where object properties and location may not be well known. A simplified grasper consisting of a pair of two-link planar fingers with compliant revolute joints was simulated as it was actuated after contact with a target object. The joint coupling configuration of the gripper was varied in order t...