In this paper we discuss some aspects related to the practical assessment of the quality of a grasp by a robotic device on objects of unknown shape, based on sensorial feedback from tactile and force sensors on the hand. We brie y discuss the concept of contact robustness and of grasp robustness, pointing out that the former is an easily computable but overconservative su cient condition for th...

Since image-based visual servoing is a local feedback control solution, it requires the definition of intermediate subgoals in the sensor space at the task planning level. In this paper, we describe a general technique fo r specifying and tracking trajectories of an unknown object in the camera image space. First, physically valid C2 image trajectories which correspond to quasi-optimal 3 0 came...

The paper describes and formalizes the concepts and assumptions involved in Learning from Demonstration (LFD), a common learning technique used in robotics. LFD-related concepts like goal, generalization, and repetition are here defined, analyzed, and put into context. Robot behaviors are described in terms of trajectories through information spaces and learning is formulated as mappings betwee...

This paper approaches the design problem of suitable grippers for a robotic arm to pick up horticulture products. General considerations have been pointed out and main concepts and mechanical designs have been discussed and proposed by sketches and drawings for an easy understanding of “on-field” problems and feasible solutions. Pneumatic actuation has been proposed with suitable grasp force co...

Abstract: The demand for high speed robotic manipulators with little or no vibrations has been a challenging research problem. In this paper, a position control for a 2 DOF single link flexible manipulator with joint elasticity is studied. It is shown that using the flatness control approach, faster response and less oscillations and overshoots can be achieved. The flat output of the linearized...

This paper describes the development of a tendon-driven, multi-fingered dexterous robot hand for space operations. This hand can achieve cylindrical grasps while producing a holding strength necessary for grasping several crew aids, tools (CATs) and interfaces. The design is based on grasping requirements for 242 CATs and interfaces found in the extravehicular activity (EVA) Tools and Equipment...

This paper describes a dynamical strategy for releasing micro objects picked-up by means of adhesion forces. While sticking effects are used in order to capture an object by adequately choosing a high surface energy constitutive material for the end-effector, these same effects handicap considerably the release. We propose to take advantage of the inertial effects of both the end-effector and t...

This paper describes guidelines for the design of grippers for use in modular manufacturing workcells. Gripper design is an important and often overlooked aspect of the design of a complete assembly system. Here, guidelines are presented which can be applied to a wide variety of grippers. Guidelines are divided into three major categories: those that improve system throughput, those that increa...