Compliant grasping with passive forces

Chen, Xiong; Wang, Michael Yu; Tang, Yong; Xiong, Yan

doi:10.1002/rob.20064

Cited by 19 publications

(14 citation statements)

References 25 publications

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“…Robust path-planning and control algorithms must ensure the stability of all intermediate configurations of the manipulator along the prescribed path. Extensive literature exists for grasp synthesis and stability analysis of rigid-link robots that contact objects only at finite points (Baker et al 1985;Fearing 1986;Markenscoff et al 1990;Bicchi 1993;Ismaeil and Eills 1994;Jen et al 1996;Xiong et al 2005). Stable grasp synthesis for highly compliant and continuously deformable soft manipulators, however, will require solutions to many untouched and challenging design, control and planning problems (Salisbury et al 1988).…”

Section: Future Researchmentioning

confidence: 99%

Soft Robotics: Biological Inspiration, State of the Art, and Future Research

Trivedi

Rahn

Kier

et al. 2008

Applied Bionics and Biomechanics

1,192

536

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Traditional robots have rigid underlying structures that limit their ability to interact with their environment. For example, conventional robot manipulators have rigid links and can manipulate objects using only their specialised end effectors. These robots often encounter difficulties operating in unstructured and highly congested environments. A variety of animals and plants exhibit complex movement with soft structures devoid of rigid components. Muscular hydrostats (e.g. octopus arms and elephant trunks) are almost entirely composed of muscle and connective tissue and plant cells can change shape when pressurised by osmosis. Researchers have been inspired by biology to design and build soft robots. With a soft structure and redundant degrees of freedom, these robots can be used for delicate tasks in cluttered and/or unstructured environments. This paper discusses the novel capabilities of soft robots, describes examples from nature that provide biological inspiration, surveys the state of the art and outlines existing challenges in soft robot design, modelling, fabrication and control.

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Section: Future Researchmentioning

confidence: 99%

Soft Robotics: Biological Inspiration, State of the Art, and Future Research

Trivedi

Rahn

Kier

et al. 2008

Applied Bionics and Biomechanics

1,192

536

View full text Add to dashboard Cite

show abstract

“…Numerical methods have been increasingly used in non-traditional robotic applications involving mechanical deformable contact; for example, compliant grasping [1,2], robotic assembly of snap-fits [3] and assisted surgery [4]. Mechanical contacts are common robotic problems in agriculture, food-processing and surgical robotic systems.…”

Section: Introductionmentioning

confidence: 99%

An Adaptive Meshless Method for Modeling Large Mechanical Deformation and Contacts

Lee

2007

Proceedings 2007 IEEE International Conference on Robotics and Automation

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Growing new robotic applications in agriculture, food-processing, assisted surgery and haptics, which requires handling of highly deformable objects, present a number of design challenges; among these are methods to analyze deformable contacts. Recently, meshless methods (MLM), which inherit many advantages of finite element method (FEM) and yet need no explicit mesh structure to discretize geometry, have been proposed as an attractive alternative to FEM for solving engineering problems where automatic re-meshing is needed. This paper offers an adaptive MLM (automatically inserting nodes into large error regions) for solving contact problems. We employ the sliding line algorithm with the penalty method to handle contact constraints; it does not rely on small displacement assumptions and thus, it can solve non-linear contact problems with large deformation. Along with three practical applications, we validate the method against results computed using commercial FEM software and analytical solutions.

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“…Analytic compliance models have been proposed by Hirai et al [19] and Xiong et al [48]. Hirai et al model soft fingertips as a continuoum of linear springs aligned with the finger's initial contact normal [19].…”

Section: Introductionmentioning

confidence: 99%

“…The potential energy associated with several fingertips was subsequently used to synthesize stable manipulation plans. Xiong et al combined Sinha and Abel's contact model with the Hertz normal compliance model [48]. They obtained a nonlinear compliance model which predicts the normal and tangential contact reaction forces, and applied this model to the prediction of stability and force closure in whole-arm grasps.…”

Section: Introductionmentioning

confidence: 99%

On the mechanics of natural compliance in frictional contacts and its effect on grasp stiffness and stability

Shapiro

Rimon

Burdick

2004

IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004

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This paper considers the effect of natural material compliance on the stiffness and stability of frictional multi-contact grasps and fixtures. The contact preload profile is a key parameter in the nonlinear compliance laws governing such contacts. The paper introduces the Hertz-Walton contact compliance model which is valid for linear contact loading profiles. The model is specified in a lumped parameter form suitable for on-line grasping applications, and is entirely determined by the contact friction and by the material and geometric properties of the contacting bodies. The model predicts an asymmetric stiffening of the tangential reaction force as the normal load at the contact increases. As a result, the composite stiffness matrix of multi-contact grasps governed by natural compliance effects is asymmetric, indicating that these contact arrangements are not governed by any potential energy function. Based on the compliant grasp dynamics, the paper derives rules indicating which contact point locations and what preload profiles guarantee grasp and fixture stability. The paper also describes preliminary experiments supporting the contact model predictions.

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Compliant grasping with passive forces

Cited by 19 publications

References 25 publications

Soft Robotics: Biological Inspiration, State of the Art, and Future Research

Soft Robotics: Biological Inspiration, State of the Art, and Future Research

An Adaptive Meshless Method for Modeling Large Mechanical Deformation and Contacts

On the mechanics of natural compliance in frictional contacts and its effect on grasp stiffness and stability

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