Autonomous Object Manipulation Using a Soft Planar Grasping Manipulator
Name
Autonomous object.pdf
Size
838.58 KB
Format
Adobe PDF
Checksum (MD5)
db9eefc06ba1c617b43759e970cf532e
Author(s)
Katzschmann, Robert Kevin
Rus, Daniela L
Marchese, Andrew Dominic
Date Issued
December 2015
Journal
Soft Robotics
Publisher
Mary Ann Liebert, Inc.
Citation
Katzschmann, Robert K., Andrew D. Marchese, and Daniela Rus. “Autonomous Object Manipulation Using a Soft Planar Grasping Manipulator.” Soft Robotics 2, no. 4 (December 2015): 155–164.
Version
Final published version
Abstract
This article presents the development of an autonomous motion planning algorithm for a soft planar grasping manipulator capable of grasp-and-place operations by encapsulation with uncertainty in the position and shape of the object. The end effector of the soft manipulator is fabricated in one piece without weakening seams using lost-wax casting instead of the commonly used multilayer lamination process. The soft manipulation system can grasp randomly positioned objects within its reachable envelope and move them to a desired location without human intervention. The autonomous planning system leverages the compliance and continuum bending of the soft grasping manipulator to achieve repeatable grasps in the presence of uncertainty. A suite of experiments is presented that demonstrates the system's capabilities.
MIT Department
Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory
Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science
Massachusetts Institute of Technology. Department of Mechanical Engineering
Terms of Use
Creative Commons Attribution-NonCommercial 4.0 International
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.1089/soro.2015.0013
