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Design of parallel-jaw gripper tip surfaces for robust grasping

Menglong Guo, David V. Gealy, Jacky Liang, Jeffrey Mahler, Aimee Goncalves, Stephen McKinley, Juan Aparicio Ojea, Ken Goldberg
2017 2017 IEEE International Conference on Robotics and Automation (ICRA)  
Although the shape, texture, and compliance of gripper jaw surfaces affect grasp robustness, almost all commercially available grippers provide a pair of rectangular, planar, rigid jaw surfaces.  ...  Parallel-jaw robot grippers can grasp almost any object and are ubiquitous in industry.  ...  We are grateful to our colleagues at Stanford for providing the gecko-inspired gripper surface material, in particular Mark Cutkosky, Elliot Hawkes, and Wilson Ruotolo, with special help from Vincent Duchaine  ... 
doi:10.1109/icra.2017.7989330 dblp:conf/icra/GuoGLMGMOG17 fatcat:trxnw2jc4je7xes5ehzgj54ayi

On Alternative Uses of Structural Compliance for the Development of Adaptive Robot Grippers and Hands

Che-Ming Chang, Lucas Gerez, Nathan Elangovan, Agisilaos Zisimatos, Minas Liarokapis
2019 Frontiers in Neurorobotics  
In this paper, we present a series of alternative uses of structural compliance for the development of simple, adaptive, compliant and/or under-actuated robot grippers and hands that can efficiently and  ...  The devices employ mechanical adaptability to facilitate and simplify the efficient execution of robust grasping and dexterous, in-hand manipulation tasks.  ...  Gripper Contact surface Max clench force at base Small cup Mustard Parallel jaw MS-PSA 1,971 mm 2 2,295 mm 2 31 N Parallel jaw HA 2,754 mm 2 3,267 mm 2 30 N Parallel jaw Sponge 2,250  ... 
doi:10.3389/fnbot.2019.00091 pmid:31787889 pmcid:PMC6854005 fatcat:374h2cdi7zbjtgrqoitmz3acku

IPC-GraspSim: Reducing the Sim2Real Gap for Parallel-Jaw Grasping with the Incremental Potential Contact Model [article]

Chung Min Kim, Michael Danielczuk, Isabella Huang, Ken Goldberg
2022 arXiv   pre-print
IPC-GraspSim models both the dynamics and the deformation of compliant jaw tips to reduce Sim2Real gap for robot grasping.  ...  Soft compliant jaw tips are almost universally used with parallel-jaw robot grippers due to their ability to increase contact area and friction between the jaws and the object to be manipulated.  ...  Any opinions, findings, and conclusions or recommendations expressed in this material are those of the authors and do not necessarily reflect the views of the sponsors. We thank our  ... 
arXiv:2111.01391v2 fatcat:2fidpea4wjajhhkvdghyan7cye

Gripper point contacts for part alignment

M.T. Zhang, K. Goldberg
2002 IEEE Transactions on Robotics and Automation  
The initial resting pose of many industrial parts differs from the orientation desired for assembly. We show that it is possible to align parts during grasping using a standard parallel-jaw gripper.  ...  A solution is an arrangement of four gripper point contacts that will align the part in the vertical plane as the jaws close.  ...  (Holland) for their contributions to our thinking about the toppling function and Gordon Smith for suggesting that toppling could be applied to grasping. Thanks also to K.  ... 
doi:10.1109/tra.2002.805657 fatcat:u4m672fl6jfejgfdborivdrdl4

Design of a Multi-Modal End-Effector and Grasping System: How Integrated Design helped win the Amazon Robotics Challenge [article]

S. Wade-McCue, N. Kelly-Boxall, M. McTaggart, D. Morrison, A.W. Tow, J. Erskine, R. Grinover, A. Gurman, T. Hunn, D. Lee, A. Milan, T. Pham, G. Rallos (+8 others)
2018 arXiv   pre-print
The system makes strong use of redundancy in design by implementing complimentary tools, a suction gripper and a parallel gripper.  ...  To address the principal nature of our grasping system and the reason for its success, we propose an additional robotic design aspect 'precision vs. redundancy'.  ...  Grasping is a core challenge for robots [7] and has seen the research and development of numerous end-effector designs, including [14] Parallel Gripper Kit A -Commercial Servo Servo City [15] Parallel  ... 
arXiv:1710.01439v3 fatcat:hiuok3x3jvddlizdssjg5et4zi

The KIT Swiss Knife Gripper for Disassembly Tasks: A Multi-Functional Gripper for Bimanual Manipulation with a Single Arm

Julia Borras, Raphael Heudorfer, Samuel Rader, Peter Kaiser, Tamim Asfour
2018 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)  
This work presents the concept of a robotic gripper designed for the disassembly of electromechanical devices that comprises several innovative ideas.  ...  We analyze state of the art grippers and robotic hands designed for dexterous in-hand manipulation and extract common characteristics and weak points.  ...  To realize the grasping actions, we analyzed grippers with two and three fingers for high precision and robustness.  ... 
doi:10.1109/iros.2018.8593567 dblp:conf/iros/SolHRKA18 fatcat:d3kwwrrdpbhnji54pwwduaslqm

Task and Context Sensitive Gripper Design Learning Using Dynamic Grasp Simulation

A. Wolniakowski, K. Miatliuk, Z. Gosiewski, L. Bodenhagen, H. G. Petersen, L. C. M. W. Schwartz, J. A. Jørgensen, L.-P. Ellekilde, N. Krüger
2017 Journal of Intelligent and Robotic Systems  
We demonstrate our gripper optimization on a parallel finger type gripper described by twelve parameters.  ...  We furthermore present a parametrization of the grasping task and context, which is essential as an input to the computation of gripper performance.  ...  J Intell Robot Syst Open Access This article is distributed under the terms of the Creative Commons Attribution 4.0 International License (http://, which permits unrestricted  ... 
doi:10.1007/s10846-017-0492-y fatcat:hxbiq4uxgfhvbh3rum3tmw3upe

The Baxter Easyhand: A robot hand that costs $150 US in parts

Giulia Franchi, Andreas ten Pas, Robert Platt, Stefano Panzieri
2015 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)  
This paper details the design of the hand and its mechanical characteristics and reports results from experiments that characterize its grasping performance.  ...  Because this hand is designed specifically for Baxter, we are able to make some important simplifications in the design relative to other 3D printed hands.  ...  CONCLUSIONS In this paper we describe the Baxter Easyhand, a new 3D printed robot hand specifically designed for use with the Baxter robot.  ... 
doi:10.1109/iros.2015.7353779 dblp:conf/iros/FranchiPPP15 fatcat:gzo7mhyhnjaa3i42k5jm6a5ile

A sensor for dynamic tactile information with applications in human–robot interaction and object exploration

Peer A. Schmidt, Eric Maël, Rolf P. Würtz
2006 Robotics and Autonomous Systems  
We present a novel tactile sensor, which is applied for dextrous grasping with a simple robot gripper.  ...  These sensor elements are very sensitive (with a threshold of about 5 mN) but robust enough not to be damaged during grasping.  ...  Acknowledgments We are grateful to Jan Jockusch from the Technical University of Bielefeld and Liu Hong from the DLR in Oberpfaffenhofen for their help with the static sensors and for sharing their technical  ... 
doi:10.1016/j.robot.2006.05.013 fatcat:mjtj6yjqfzepjp7liejcgkebsi

Improving Robotic Manipulation without Sacrificing Grasping Efficiency: A Multi-Modal, Adaptive Gripper with Reconfigurable Finger Bases

Nathan Elangovan, Lucas Gerez, Geng Gao, Minas Liarokapis
2021 IEEE Access  
Thus, the proposed robotic gripper exploits the advantages of both these grasping modes (adaptive and parallel jaw). V.  ...  This allows the gripper to exert higher grasping forces owing to the lack of post-contact reconfiguration in parallel jaw grippers [26] .  ... 
doi:10.1109/access.2021.3086802 fatcat:ejvr3msnkvf3jdhueoc4twbape

Assembly of randomly placed parts realized by using only one robot arm with a general parallel-jaw gripper [article]

Jie Zhao, Xin Jiang, Xiaoman Wang, Shengfan Wang, Yunhui Liu
2019 arXiv   pre-print
This proposal utilizes a specially designed gripper tip mounted on the jaws of a two-fingered gripper.  ...  With the modified gripper, in-hand manipulation of the grasped object is realized, which can ensure the control of the orientation and offset position of the grasped object.  ...  Fig. 1 . 1 The whole process for integrating grasp and in-hand manipulation by only one parallel gripper mounted with the specially designed fingertips. 1. Grasp a randomly placed screw. 2.  ... 
arXiv:1909.08862v1 fatcat:brhmwbpzxfe7nmko4l45pz3ale

Learning ambidextrous robot grasping policies

Jeffrey Mahler, Matthew Matl, Vishal Satish, Michael Danielczuk, Bill DeRose, Stephen McKinley, Ken Goldberg
2019 Science Robotics  
We train policies for a parallel-jaw and a vacuum-based suction cup gripper on 5 million synthetic depth images, grasps, and rewards generated from heaps of three-dimensional objects.  ...  Universal picking (UP), or reliable robot grasping of a diverse range of novel objects from heaps, is a grand challenge for e-commerce order fulfillment, manufacturing, inspection, and home service robots  ...  row of pixels for the suction and parallel-jaw grippers, respectively.  ... 
doi:10.1126/scirobotics.aau4984 pmid:33137754 fatcat:4gu6slfd5bfddbx2ivxi6mvica

Dex-Net 2.0: Deep Learning to Plan Robust Grasps with Synthetic Point Clouds and Analytic Grasp Metrics [article]

Jeffrey Mahler, Jacky Liang, Sherdil Niyaz, Michael Laskey, Richard Doan, Xinyu Liu, Juan Aparicio Ojea, Ken Goldberg
2017 arXiv   pre-print
To reduce data collection time for deep learning of robust robotic grasp plans, we explore training from a synthetic dataset of 6.7 million point clouds, grasps, and analytic grasp metrics generated from  ...  are specified as the planar position, angle, and depth of a gripper relative to an RGB-D sensor.  ...  ACKNOWLEDGMENTS APPENDIX A PARAMETERS OF GRAPHICAL MODEL Our graphical model is illustrated in Fig. 2 and models p(S, g, x, y) as the product of a state distribution p(x), an  ... 
arXiv:1703.09312v3 fatcat:jo4dx4foezfezd6qz4vjkkpm7q

Object placement as inverse motion planning

Anne Holladay, Jennifer Barry, Leslie Pack Kaelbling, Tomas Lozano-Perez
2013 2013 IEEE International Conference on Robotics and Automation  
We present an approach to robust placing that uses movable surfaces in the environment to guide a poorly grasped object into a goal pose.  ...  This problem is an instance of the inverse motion planning problem, in which we solve for a configuration of the environment that makes desired trajectories likely.  ...  The PR2 has two arms, each with seven degrees of freedom, and parallel jaw grippers at the end of each arm. We modeled the PR2's empty gripper as a movable block.  ... 
doi:10.1109/icra.2013.6631099 dblp:conf/icra/HolladayBKL13 fatcat:zesjksykpfashpj7c45yrz5vse

Guidelines for the design of robotic gripping systems

Greg Causey
2003 Assembly Automation  
This paper describes guidelines for the design of grippers for use in modular manufacturing workcells.  ...  Gripper design is an important and often overlooked aspect of the design of a complete assembly system. Here, guidelines are presented which can be applied to a wide variety of grippers.  ...  Design for proper gripper-part interaction The interaction of the surface material of the gripper jaws and the part is important for alignment.  ... 
doi:10.1108/01445150310460033 fatcat:2mtr6hr5xrcyxbxmbu7yjolyom
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