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Multiplexed Manipulation: Versatile Multimodal Grasping via a Hybrid Soft Gripper
Name
ICRA_2020.pdf
Description
Accepted version
Size
11.64 MB
Format
Adobe PDF
Checksum (MD5)
db6d377fda6e4a6b6ae3934c096d211e
Author(s)
Chin, Lillian
Barscevicius, Felipe
Lipton, Jeffrey
Rus, Daniela
Date Issued
May 2020
Journal
Proceedings - IEEE International Conference on Robotics and Automation
Publisher
IEEE
Citation
Chin, Lillian, Barscevicius, Felipe, Lipton, Jeffrey and Rus, Daniela. 2020. "Multiplexed Manipulation: Versatile Multimodal Grasping via a Hybrid Soft Gripper." Proceedings - IEEE International Conference on Robotics and Automation.
Version
Author's final manuscript
Abstract
© 2020 IEEE. The success of hybrid suction + parallel-jaw grippers in the Amazon Robotics/Picking Challenge have demonstrated the effectiveness of multimodal grasping approaches. However, existing multimodal grippers combine grasping modes in isolation and do not incorporate the benefits of compliance found in soft robotic manipulators. In this paper, we present a gripper that integrates three modes of grasping: suction, parallel jaw, and soft fingers. Using complaint handed shearing auxetics actuators as the foundation, this gripper is able to multiplex manipulation by creating unique grasping primitives through permutations of these grasping techniques. This gripper is able to grasp 88% of tested objects, 14% of which could only be grasped using a combination of grasping modes. The gripper is also able to perform in-hand object re-orientation of flat objects without the need for pre-grasp manipulation.
Terms of Use
Creative Commons Attribution-Noncommercial-Share Alike
Persistent DSpace Link
DOI of Published Version
10.1109/icra40945.2020.9196626
