A New Principle of Adaptive Compliant Gripper

Petković, Dalibor; Pavlović, Nenad D.

doi:10.1007/978-94-007-2727-4_13

Cited by 11 publications

(8 citation statements)

References 15 publications

(14 reference statements)

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“…The gripper performance is very important when fragile objects of different stiffness and shapes are manipulated and hence a reliable force control is crucial. This problem can be overcome with the use of deformable or flexible fingers which improve the limited capabilities of robotic rigid fingers [1,2]. Multi-fingered robotic grippers offer great advantages compared with traditional tools mounted at the end of a robot arm.…”

Section: Introductionmentioning

confidence: 99%

RETRACTED ARTICLE: Input Displacement Neuro-fuzzy Control and Object Recognition by Compliant Multi-fingered Passively Adaptive Robotic Gripper

Petković

Shamshirband

Anuar

et al. 2015

J Intell Robot Syst

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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 make decision strategies using conventional techniques. Here, an adaptive neuro fuzzy inference system (ANFIS) for controlling input displacement and object recognition of a new adaptive compliant gripper is presented. The grasping function of the proposed adaptive multi-fingered gripper relies on the physical contact of the finger with an object. This design of the each finger has embedded sensors as part of its structure. The use of embedded sensors in a robot gripper gives the control system the ability to control input displacement of the gripper and to recognize particular shapes of the grasping objects. Fuzzy based controllers develop a control signal according to grasping object shape which yields on the firing of the rule base. The selection of the proper rule base depending on the situation can be achieved by using an ANFIS strategy, which becomes an integrated method of approach for the control purposes. In the designed ANFIS scheme, neural network techniques are used to select a proper rule base, which is achieved using the back propagation algorithm. The simulation results presented in this paper show the effectiveness of the developed method.

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Section: Introductionmentioning

confidence: 99%

RETRACTED ARTICLE: Input Displacement Neuro-fuzzy Control and Object Recognition by Compliant Multi-fingered Passively Adaptive Robotic Gripper

Petković

Shamshirband

Anuar

et al. 2015

J Intell Robot Syst

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show abstract

“…The article [8] developed gripping devices for reloadcing objects, adapting to various shapes of the outer surface of objects to be manipulated. Another option for creating a tactile adaptation system using a tactile hydraulic controller was proposed in [9].…”

Section: Literature Review and Problem Statementmentioning

confidence: 99%

Creation of an innovative robot with a gripper for moving plant microshoots from the in vitro transport tank to the working tank with soil ground at the stage of their adaptation in soil ground during microclonal reproduction

Kaimov¹,

Syrgaliyev

Tuleshov³

et al. 2022

EEJET

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The industrial development of cities is the main cause of the destruction and degradation of natural resources around the world. Urbanization negatively affects the species composition of plants, the atmosphere and soil cover of areas of populated areas of large cities of the World. Tree plantations are the main mechanism for stabilizing the ecological situation in large cities and arid territories of the countries of the World. In this regard, in order to obtain a large number of genetically identical plants using their micropropagation, it is necessary to automate the main stages of this technological process. The result of the study is the creation of an adaptive phalanx gripper of a robotic complex for automating the technological process of handling operations. That will have a positive effect on solving the urgent problem of planting greenery in large cities and areas of arid territories not only in the Republic of Kazakhstan, but also in other countries of the World and represents a fundamentally new approach to solving the environmental problems of the Earth. The article substantiates various options for structural-kinematic schemes of the robot gripper, taking into account the stochastic conditions of its interaction with the overloaded object. Mathematical methods have been created for the selection and justification of the geometric, structural-kinematic and dynamic parameters of grippers for overloading plant microshoots and their computer 3D models. Software has been developed for modeling the functioning of a remotely controlled physical prototype of a mobile robot with an adaptive gripper for reloading microshoots from a transport tank to a cargo tank.

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“…Petkovic et al [45] used carbon-black filled silicon material that is able to morph the gripper to accommodate different objects, as shown in…”

Section: Robotic Gripper and Prostheticsmentioning

confidence: 99%

Kinematic synthesis of planar, shape-changing, rigid body mechanisms for design profiles with significant differences in arc length

Shamsudin

Murray

Myszka

et al. 2013

Mechanism and Machine Theory

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A New Principle of Adaptive Compliant Gripper

Cited by 11 publications

References 15 publications

RETRACTED ARTICLE: Input Displacement Neuro-fuzzy Control and Object Recognition by Compliant Multi-fingered Passively Adaptive Robotic Gripper

RETRACTED ARTICLE: Input Displacement Neuro-fuzzy Control and Object Recognition by Compliant Multi-fingered Passively Adaptive Robotic Gripper

Creation of an innovative robot with a gripper for moving plant microshoots from the in vitro transport tank to the working tank with soil ground at the stage of their adaptation in soil ground during microclonal reproduction

Kinematic synthesis of planar, shape-changing, rigid body mechanisms for design profiles with significant differences in arc length

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