Although image-based visual servoing exhibits superior performance in many vision-based robotic applications, it shows fatal limitations when initial pose discrepancy is large. The feature points may leave the camera’s field of view and, also, the robot may not converge to the goal configuration. In this paper, a novel approach is proposed to resolve these limitations by planning trajectories i...

We introduce a new calibration concept for eye-on-hand systems based on the self-viewing principle. A conngura-tion where the camera directly observes the gripper ooers new advantages to hand/eye calibration: a) decoupling the calibration process from the robot kinematics ooers a great potential for accuracy, b) performing additional on-line calibration can signiicantly enhance reliability. We ...

Robotic pick-and-place operation is planned for handling hard objects with on-off control gripper. It does not have force monitoring capability for safe grasping soft objects. Current force/torque sensor is too expensive and difficult to implement. Here, a low cost embedded control structure is designed with distributed FPGA robotic position control and gripper Arduino force control kernels. A ...

We describe a learning-based approach to handeye coordination for robotic grasping from monocular images. To learn hand-eye coordination for grasping, we trained a large convolutional neural network to predict the probability that task-space motion of the gripper will result in successful grasps, using only monocular camera images and independently of camera calibration or the current robot pos...

This paper describes the application of a partially observed Markov decision process (POMDP) to guide the control decisions made during the task of grasping objects with a simple compliant grasper in unstructured environments. The decision process relies only on the sensing of angular deflection of the compliant gripper joints – proprioceptive information available on most robot hands and gripp...

Gripping characterization and analysis To achieve the capability of picking-and-placing and assembling hydrogels in 3D, the grippers were designed to have proper beam deflecting ability to be able to pick, transport and release a hydrogel of a given size and shape. The gap distance between two gripping magnets of a gripper was designed to be slightly smaller than the hydrogel to be assembled. W...

In the middle of difficulty lies opportunity Summary This thesis presents the design and performance of the Virtual Palpation Gripper, an early prototype of a remote palpation instrument intended for laparoscopic surgery. Psychophysical experiments related to this prototype are also described. In minimally invasive techniques, such as laparoscopic surgery, the interventions are performed with i...

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...

This paper studies the viability of concurrent object pose tracking and tactile sensing for assessing grasp stability on a physical robotic platform. We present a kernellogistic-regression model of poseand touch-conditional grasp success probability. Models are trained on grasp data which consist of (1) the pose of the gripper relative to the object, (2) a tactile description of the contacts be...

An implementation of an object grasping control system for a robot arm is presented in this paper. The hardware of the system contains a fabricated robot arm with a gripper, a pair of charge-coupled device (CCD) cameras, and a computer as the control center. The two CCD cameras are used to “see” the target object and the two-eye imaging geometry is used to calculate the target’s position in 3-D...