Haptic identification of objects using a modular soft robotic gripper

Homberg, Bianca S.; Katzschmann, Robert K.; Dogar, Mehmet R.; Rus, Daniela

doi:10.1109/iros.2015.7353596

Cited by 245 publications

(124 citation statements)

References 30 publications

Supporting

Mentioning

118

Contrasting

Unclassified

Order By: Relevance

“…This can lead to the creation of robots using a single casting process which eliminates any problems with bonding or joining materials of different properties (Cho et al, 2009). Manipulators created using this method include pneumatic operated manipulators Homberg et al, 2015) as this method allows for easy integration of pneumatic chambers. Other methods of actuation can be used with fabrication, with tendon-driven locomotion robots also created using similar methods (Lin et al, 2011).…”

Section: Materials Casting and Moldingmentioning

confidence: 99%

Soft Manipulators and Grippers: A Review

et al. 2016

View full text Add to dashboard Cite

Soft robotics is a growing area of research which utilizes the compliance and adaptability of soft structures to develop highly adaptive robotics for soft interactions. One area in which soft robotics has the ability to make significant impact is in the development of soft grippers and manipulators. With an increased requirement for automation, robotics systems are required to perform task in unstructured and not well defined environments; conditions which conventional rigid robotics are not best suited. This requires a paradigm shift in the methods and materials used to develop robots such that they can adapt to and work safely in human environments. One solution to this is soft robotics, which enables soft interactions with the surroundings while maintaining the ability to apply significant force. This review paper assesses the current materials and methods, actuation methods and sensors which are used in the development of soft manipulators. The achievements and shortcomings of recent technology in these key areas are evaluated, and this paper concludes with a discussion on the potential impacts of soft manipulators on industry and society.

show abstract

Section: Materials Casting and Moldingmentioning

confidence: 99%

Soft Manipulators and Grippers: A Review

et al. 2016

View full text Add to dashboard Cite

show abstract

“…Similar to ISR-SoftHand [13] and UC-SoftHand [14], there are robotic hands that possess both types of softness. Using pneumatic actuators facilitates combination of softness types, for example, in ROBO hand [21][22], Starfish-like hand [23], lightweight underactuated pneumatic fingers [24], soft elastomer quadrupedal robots [25], safe interaction gripper [26], inflatable rubber pockets based gripper [27], puncture resistant soft gripper [28], modular soft robotic grippers [29], and jamming gripper [30] [31]. Presence of both types of softness facilitates grasping of several kinds of objects.…”

Section: A Related Workmentioning

confidence: 99%

Variable-Grasping-Mode Underactuated Soft Gripper With Environmental Contact-Based Operation

Nishimura

Mizushima

Suzuki

et al. 2017

IEEE Robot. Autom. Lett.

View full text Add to dashboard Cite

Abstract-A novel robotic gripper with soft surfaces and underactuated joints was proposed. The soft surface was fabricated from a deformable rubber bag filled with incompressible fluid and a microgripper inside the fluid. A ratchet was installed at the underactuated joint so that the joint's rotation caused by contact with an environment, such as a supporting surface, can be preserved, and the actions of scooping and enveloping an object are realized. With one actuator, the gripper realized three modes i.e., parallel gripper, pinching, and enveloping. The range of graspable objects was wide and included soft, rigid, deformable, fragile, small (boundary length less than 30 mm), large (more than 80 mm long), thin (less than 0.5 mm) and heavy (more than 3 kg) objects.

show abstract

“…Three main contributions are shown in this paper: (1) A simulationbased predictor is designed to get the Jacobian matrix for both the open-loop and closed-loop control design of soft robot. (2) We obtain the condition of robust stability for the closed-loop system based on Lyapunov stability theory; (3) Combining the open-loop controller and the closed-loop controller, aswitched control method is proposed to deal with the problem of image features loss. This paper is organized as follows.…”

Section: Index Terms-softmentioning

confidence: 99%

Visual servoing control of soft robots based on finite element model

Zhang

Bieze

Dequidt

et al. 2017

2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

View full text Add to dashboard Cite

Abstract-In this paper, we propose a strategy for the control of soft robots with visual tracking and simulation-based predictor. A kinematic model of soft robots is obtained thanks to the Finite Element Method (FEM) computed in real-time. The FEM allows to obtain a prediction of the Jacobian matrix of the robot. This allows a first control of the robot, in the actuator space. Then, a second control strategy based on the feedback of infrared cameras is developed to obtain a correction of the effector position. The robust stability of this closed-loop system is obtained based on Lyapunov stability theory. Otherwise, to deal with the problem of image features (the marker points placed on the end effector of soft robot) loss, a switched control strategy is proposed to combine both the open-loop controller and the closed-loop controller. Finally, experiments on a parallel soft robot driven by four cables are conducted and show the effectiveness of these methods for the real-time control of soft robots.

show abstract

Haptic identification of objects using a modular soft robotic gripper

Cited by 245 publications

References 30 publications

Soft Manipulators and Grippers: A Review

Soft Manipulators and Grippers: A Review

Variable-Grasping-Mode Underactuated Soft Gripper With Environmental Contact-Based Operation

Visual servoing control of soft robots based on finite element model

Contact Info

Product

Resources

About