SIMJig - Smart Independent Minimalist Jig

Levi, Gal; Golan, Yoav; Shapiro, Amir

doi:10.1109/lra.2022.3145511

Cited by 2 publications

(2 citation statements)

References 19 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Fixture planning often relies on a combination of geometric, force, and friction analyses (Hong Lee and Cutkosky, 1991). There are various methods of fixturing including using clamps (Mitsioni et al, 2019), custom jigs (Levi et al, 2022), or using another robot to directly grasp or grasp via tongs (Watanabe et al, 2013; Stuckler et al, 2016; Zhang et al, 2019). Additionally some strategies, such as fixtureless fixturing and shared grasping, rely on friction and environmental contacts to fixture without additional fixtures or tools (Chavan Dafle and Rodriguez, 2018; Hou et al, 2020).…”

Section: Related Workmentioning

confidence: 99%

Robust planning for multi-stage forceful manipulation

Holladay,

Lozano-Pérez,

Rodriguez

2023

The International Journal of Robotics Research

View full text Add to dashboard Cite

Multi-step forceful manipulation tasks, such as opening a push-and-twist childproof bottle, require a robot to make various planning choices that are substantially impacted by the requirement to exert force during the task. The robot must reason over discrete and continuous choices relating to the sequence of actions, such as whether to pick up an object, and the parameters of each of those actions, such how to grasp the object. To enable planning and executing forceful manipulation, we augment an existing task and motion planner with constraints that explicitly consider torque and frictional limits, captured through the proposed forceful kinematic chain constraint. In three domains, opening a childproof bottle, twisting a nut and cutting a vegetable, we demonstrate how the system selects from among a combinatorial set of strategies. We also show how cost-sensitive planning can be used to find strategies and parameters that are robust to uncertainty in the physical parameters.

show abstract

Section: Related Workmentioning

confidence: 99%

Robust planning for multi-stage forceful manipulation

Holladay,

Lozano-Pérez,

Rodriguez

2023

The International Journal of Robotics Research

View full text Add to dashboard Cite

show abstract

“…Reconfigurable jigs [12], [13], [14] fix objects and support their surfaces by rearranging or replacing multiple components according to the shape of the object. The ability to change a fixed configuration provides flexibility.…”

Section: Related Work a Flexible Jigs And Fixturesmentioning

confidence: 99%

Jamming Gripper-Inspired Soft Jig for Perceptive Parts Fixing

et al. 2023

View full text Add to dashboard Cite

To achieve precise and time-efficient operation to ensure stable and reliable product assembly, custom-made jigs have been developed for each assembly part. However, designing these jigs is a timeconsuming task. Therefore, this study proposes a jamming gripper-inspired flexible jig using a soft membrane consisting of transparent beads and oil with an adjusted refractive index. The proposed jig is equipped with a hydraulic drive system with visual control of the amount of transparent oil inside the jig. The proposed system enables parts fixing by creating a jammed state while maintaining optical transparency, thereby facilitating the visual sensing of the jig's membrane from camera sensors embedded in the jig. Furthermore, a sensing method was developed to perform a precise assembly without external sensors to estimate the pose of an object based on the proposed point-to-function iterative closest point. The results show that the proposed system successfully estimates the orientation at a root mean square error of less than 4°when the position is varied from 0 mm to 20 mm and the angle is varied from 0°to 20°. Furthermore, it can repeatedly fix the object in any orientation from 0°to 20°at a position of less than 0.5 mm and an angle of less than 1.1°.

show abstract

SIMJig - Smart Independent Minimalist Jig

Cited by 2 publications

References 19 publications

Robust planning for multi-stage forceful manipulation

Robust planning for multi-stage forceful manipulation

Jamming Gripper-Inspired Soft Jig for Perceptive Parts Fixing

Contact Info

Product

Resources

About