scholarly journals Static Analysis of Indeterminate Contact Forces in Robotic Grasping and Manipulation

2009 ◽  
Vol 27 (4) ◽  
pp. 427-433 ◽  
Author(s):  
Satoshi Makita ◽  
Koutarou Oda ◽  
Yusuke Maeda
Keyword(s):  
Static Analysis ◽  
Contact Forces ◽  
Robotic Grasping ◽  
Grasping And Manipulation

scholarly journals Neuromorphic Event-Based Slip Detection and Suppression in Robotic Grasping and Manipulation

IEEE Access ◽  
2020 ◽  
Vol 8 ◽  
pp. 153364-153384 ◽  
Author(s):  
Rajkumar Muthusamy ◽  
Xiaoqian Huang ◽  
Yahya Zweiri ◽  
Lakmal Seneviratne ◽  
Dongming Gan
Keyword(s):  
Robotic Grasping ◽  
Grasping And Manipulation ◽  
Event Based ◽  
Slip Detection

Mechanisms for Robotic Grasping and Manipulation

2020 ◽  
Vol 4 (1) ◽  
Author(s):  
Vincent Babin ◽  
Clément Gosselin
Keyword(s):  
Online Publication ◽  
Autonomous Systems ◽  
Robotic Manipulation ◽  
Annual Review ◽  
Publication Date ◽  
Robotic Grasping ◽  
Grasp Planning ◽  
Grasping And Manipulation

This article reviews the literature on the design of robotic mechanical grippers, with a focus on the mechanical aspects, which are believed to be the main bottleneck for effective designs. Our discussion includes gripper architectures and means of actuation, anthropomorphism and grasp planning, and robotic manipulation, emphasizing the complementary concepts of intrinsic and extrinsic dexterity. We also consider interactions of robotic grippers with the environment and with the objects to be grasped and argue that the proper handling of such interactions is key to the development of grasping and manipulation tools and scenarios. Finally, we briefly present examples of recent designs to support the discussion. Expected final online publication date for the Annual Review of Control, Robotics, and Autonomous Systems, Volume 4 is May 3, 2021. Please see http://www.annualreviews.org/page/journal/pubdates for revised estimates.

Highly sensitive capacitive flexible 3D-force tactile sensors for robotic grasping and manipulation

2020 ◽  
Vol 53 (44) ◽  
pp. 445109
Author(s):  
Tianyang Yao ◽  
Xiaohui Guo ◽  
Cuicui Li ◽  
Haiqiang Qi ◽  
Huai Lin ◽  
...  
Keyword(s):  
Robotic Grasping ◽  
Tactile Sensors ◽  
Highly Sensitive ◽  
Grasping And Manipulation

scholarly journals Design of a Force/Tactile Sensor for Robotic Grippers

Proceedings ◽  
2019 ◽  
Vol 15 (1) ◽  
pp. 31
Author(s):  
Marco Costanzo ◽  
Giuseppe De Maria ◽  
Ciro Natale ◽  
Salvatore Pirozzi
Keyword(s):  
Sensory System ◽  
Tactile Sensor ◽  
Contact Forces ◽  
Minimum Amount ◽  
Robotic Grasping ◽  
Dexterous Manipulation ◽  
Grasping Force ◽  
Sense Of Touch ◽  
Human Sense ◽  
Robotic Applications

This paper presents the design of a new force/tactile sensor for robotic applications. The sensor is suitably designed to provide the robotic grasping device with a sensory system mimicking the human sense of touch, namely, a device sensitive to contact forces, object slip and object geometry. This type of perception information is of paramount importance not only in dexterous manipulation but even in simple grasping task, especially when objects are fragile and deformable, such that only a minimum amount of grasping force can be applied to hold the object without damaging it.

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