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Conference Towards Autonomous Robotic Systems

TAROS 2011: Towards Autonomous Robotic Systems pp 410–411Cite as

Solutions for a Variable Compliance Gripper Design

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Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 6856))

Abstract

Grippers used in industry and robotics as peripheral tools to grasp objects are often limited to only one type of object surface shape. On the other hand, grippers with the capability to adaptively conform to disparate objects surfaces could be used for handling multi-surfaced workparts [1]. Furthermore, a gripper with a compliant grasp allows pressure-sensitive objects to be grasped without damage. In addition, a low inertia end-effector improves the energy efficiency of the overall system and can be easily moved in a highly dynamical manner [2]. The first concern of this ongoing research has been to prove that, notwithstanding their variable compliance, the grippers we designed are able to firmly hold objects.

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References

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  2. Festo, http://www.festo.com/net/SupportPortal/Downloads/46268/Brosch_Tripod_3_en_RZ_110311_lo_einzel.pdf

  3. Brown, E., Rodenberg, N., Amend, J., Mozeika, A., Steltz, E., Zakin, M., Lipson, H., Jaeger, H.: Universal robotic gripper based on the jamming of granular material. Proceedings of the National Academy of Sciences 107, 18743–19132 (2010)

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Author information

Authors and Affiliations

  1. Bristol Robotics Laboratory, Bristol, UK

    Maria Elena Giannaccini, Sanja Dogramadzi & Tony Pipe

Authors
  1. Maria Elena Giannaccini
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  2. Sanja Dogramadzi
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  3. Tony Pipe
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Editor information

Editors and Affiliations

  1. Department of Automatic Control and Systems Engineering, The University of Sheffield, Mappin Street, S1 3JD, Sheffield, UK

    Roderich Groß

  2. Materials and Engineering Research Institute, Sheffield Hallam University, City Campus, Horward Street, S1 1WB, Sheffield, UK

    Lyuba Alboul  & Jacques Penders  & 

  3. Department of Computing, Engineering and Mathematical Sciences, Bristol Robotics Laboratory (BRL), University of Bristol and the West of England, Bristol Business Park, BS16 1QD, Bistol, UK

    Chris Melhuish

  4. Department of Electrical and Electronic Engineering, Imperial College London, Exhibition Road, SW7 2BT, London, UK

    Mark Witkowski

  5. Department of Psychology, The University of Sheffield, Wstern Bank, S10 2TN, Sheffield, UK

    Tony J. Prescott

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© 2011 Springer-Verlag Berlin Heidelberg

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Cite this paper

Giannaccini, M.E., Dogramadzi, S., Pipe, T. (2011). Solutions for a Variable Compliance Gripper Design. In: Groß, R., Alboul, L., Melhuish, C., Witkowski, M., Prescott, T.J., Penders, J. (eds) Towards Autonomous Robotic Systems. TAROS 2011. Lecture Notes in Computer Science(), vol 6856. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-23232-9_52

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  • DOI: https://doi.org/10.1007/978-3-642-23232-9_52

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-23231-2

  • Online ISBN: 978-3-642-23232-9

  • eBook Packages: Computer ScienceComputer Science (R0)

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