This overview presents computational algorithms for generating 3D object grasps with autonomous multi-fingered robotic hands. Robotic grasping has been an active research subject for decades, and a great deal of effort has been spent on grasp synthesis algorithms. Existing papers focus on reviewing the mechanics of grasping and the finger–object contact interactions Bicchi and Kumar (2000) [12]...

Visual hand gesture based interfaces have been widely used for navigation of virtual environments and control of a robot arm in robotic systems. In fact, hand movement has abundant powers of expression with complex finger joint motions. In this paper, the full degree-of-freedom hand motion is tracked in a vision-based mode towards natural and intuitive control of a dexterous robotic hand. The m...

In this paper, we propose an approach for computing suboptimal grasps of polyhedral objects. Assuming n hard-finger contact with Coulomb friction model and based on central axes of the grasp wrench, we develop a new necessary and sufficient condition for n-finger grasps to achieve force-closure property. Accordingly, we reformulate the proposed force-closure test as a new linear programming pro...

The implementation of signal filters in a real-time form requires a tradeoff between computation resources and the system performance. Therefore, taking advantage of low lag response and the reduced consumption of resources, in this article, the Recursive Least Square (RLS) algorithm is used to filter a signal acquired from a fiber-optics-based sensor. In particular, a Long-Period Fiber Grating...

This paper proposes a method for operating robotic fingers to manipulate cartons in a complex folding process in packaging industry. With this method, a carton is modelled as a mechanism whose links present carton panels and joints present carton creases. The carton-folding position can be analysed by this hypothetical mechanism and the trajectory can be generated from the carton motion model a...

Robotic roller hemming is currently one of the most used solution for joining metal sheets in automotive industry, especially those production lines which need to favor flexibility with respect raw productivity and mostly employed assemble car doors. Hemming a fairly delicate process since it does not only suffice technical requirement – join two panels together but also an aesthetical one, joi...

In this paper, a kinematic model of a dual-arm/hand robotic system is derived, which allows the computation of the object position and orientation from the joint variables of each arm and each finger as well as from a suitable set of contact variables. On the basis of this model, a motion planner is designed, where the kinematic redundancy of the system is exploited to satisfy some secondary ta...

Soft robotic hands and grippers are increasingly attracting attention as a end-effector. Compared with rigid counterparts, they safer for human-robot environment-robot interactions, easier to control, lower cost weight, more compliant. Current soft have mostly focused on the fingers bending actuators. However, palm is also essential part grasping. In this work, we propose novel design of humano...

Recent advances in multi-fingered robotic grasping have enabled fast 6-Degrees-of-Freedom (DOF) single object grasping. Multi-finger cluttered scenes, on the other hand, remains mostly unexplored due to added difficulty of reasoning over obstacles which greatly increases computational time generate high-quality collision-free grasps. In this work, we address such limitations by introducing DDGC...

This paper analyzes the performance of a robotic system with two machines in which machines are configured in a circular layout and produce non-identical parts repetitively. The non-destructive testing (NDT) is performed by a stationary robotic arm located in the center of the circle, or a cluster tool. The robotic arm integrates multiple tasks, mainly the NDT of the part and its transition bet...