Abstract
The gripper is the far end of a robotic arm. It is responsible for the contacts between the robot itself and all the items present in a work space, or even in a social space. Therefore, to provide grippers with intelligent behaviors is fundamental, especially when the robot has to interact with human beings. As shown in this article, we built an instrumented pneumatic gripper prototype that relies on different sensors’ information. Thanks to such information, the gripper prototype was able to detect the position of a given object in order to grasp it, to safely keep it between its fingers and to avoid slipping in the case of any object movement, even very small. The gripper performance was evaluated by means of a generic grasping algorithm for robotic grippers, implemented in the form of a state machine. Several slip tests were carried out on the pneumatic gripper, which showed a very fast response time and high reliability. Objects of various size, shape and hardness were employed to reproduce different grasping scenarios. We demonstrate that, through the use of force, torque, center of pressure and proximity information, the behavior of the developed pneumatic gripper prototype outperforms the one of the traditional pneumatic gripping devices.
Highlights
Istituto Italiano di Tecnologia, iCub-Tech Facility, Via San Quirico 19d, 16163 Genoa, Italy; Abstract: The gripper is the far end of a robotic arm
Through the implementation of such an algorithm, we show the following capabilities of the pneumatic gripper prototype to: (I) recognize whether there is an object to be grasped between the gripper fingers; (II) recognize when the object is in proper position for grasping; (III) recognize when the grasped object is correctly maintained between the gripper fingers; and (IV) recognize whether the grasped object is moving, preventing it from slipping off
The sign of TY must be taken into account when computing CoPX, avoiding to adopt the torque absolute value
Summary
Istituto Italiano di Tecnologia, iCub-Tech Facility, Via San Quirico 19d, 16163 Genoa, Italy; Abstract: The gripper is the far end of a robotic arm. Through the use of force, torque, center of pressure and proximity information, the behavior of the developed pneumatic gripper prototype outperforms the one of the traditional pneumatic gripping devices. Vision and/or proximity sensors should be integrated in the gripping systems Such sensors provide the gripper with knowledge about the object position so as to grasp it when the best conditions apply. In this concern, one of the first works is [3], where a robotic gripper was endowed with proximity sensors on both palm and fingers. In [5], an electric gripper was used which featured capacitive pressure sensors to ensure grasp
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