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Acti-V-Link: An Active Surface, Visual Feedback Based, Mechanically Underactuated Gripper for In-Hand Manipulation

Published: 21 August 2024 Publication History

Abstract

End-effectors in a robotic system generally have the role of executing operations related to manipulating and handling the objects. The traditional grippers are restricted to the scope of performing a specific task, which limits their capability of adapting to changes in the physical properties of the objects. The grippers can become more efficient when integrated with a sub-system catering to manipulating varied-sized objects within the existing gripper workspace. Many state-of-the-art methods have used tendon-based and active surface (belt-driven) actuation techniques to effectively change the pose of a wide range of objects within the gripper (in hand). We propose the design of a gripper system that leverages the role of an active surface-based actuation technique integrated with an underactuated linkage mechanism capable of performing complex manipulations. We have curated an object list, all having different shapes, and executed experimental rotation and translation of objects. We take the help of vision-based feedback to accurately execute targeted goal pose motion and additionally demonstrate the gripper’s response to mechanical stresses (through analysis) and grasping an object through torque feedback.

Supplemental Material

MP4 File
Gripper working video
MP4 File
Demo Video Submission
ZIP File
Final Paper Submission

References

[1]
[1] Vinicio Tincani, Manuel Catalano, Edoardo Farnioli, Manolo Garabini, Giorgio Grioli, Gualtiero Fantoni, and Antonio Bicchi. 2012. Velvet fingers: A dexterous gripper with active surfaces. Proceedings of the... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems (10 2012), 1257–1263. https://doi.org/10.1109/IROS.2012.6385939
[2]
[2]Yong-Jae Kim, Hansol Song, and Chan-Young Maeng. 2020. BLT Gripper: An Adaptive Gripper With Active Transition Capability Between Precise Pinch and Compliant Grasp. IEEE Robotics and Automation Letters 5, 4 (2020), 5518–5525. https://doi.org/10.1109/LRA.2020.3008137
[3]
[3]Diego Ospina and Alejandro Ramirez-Serrano. 2020. Sensorless In-Hand Manipulation by An Underactuated Robot Hand. Journal of Mechanisms and Robotics 12(03 2020), 1–26. https://doi.org/10.1115/1.4046652
[4]
[4]Tao Chen, Megha Tippur, Siyang Wu, Vikash Kumar, Edward Adelson, and Pulkit Agrawal. 2023. Visual dexterity: In-hand reorientation of novel and complex object shapes. Science Robotics 8, 84 (2023), eadc9244. https://doi.org/10.1126/scirobotics.adc9244 arXiv:https://www.science.org/doi/pdf/10.1126/scirobotics.adc9244
[5]
[5]John Amend and Hod Lipson. 2017. The JamHand: Dexterous Manipulation with Minimal Actuation. Soft Robotics 4, 1 (2017), 70–80. https://doi.org/10.1089/soro.2016.0037 arXiv:https://doi.org/10.1089/soro.2016.0037 29182098.
[6]
[6]Arunansu Patra and Adam J. Spiers. 2023. D-PALI: A Low-Cost Open Source Robotic Gripper Platform for Planar In-Hand-Manipulation. In 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). 4540–4546. https://doi.org/10.1109/IROS55552.2023.10341860
[7]
[7]Adam J. Spiers, Berk Calli, and Aaron M. Dollar. 2018. Variable-Friction Finger Surfaces to Enable Within-Hand Manipulation via Gripping and Sliding. IEEE Robotics and Automation Letters 3, 4 (2018), 4116–4123. https://doi.org/10.1109/LRA.2018.2856398
[8]
[8] Yedige Tlegenov, Kuat Telegenov, and Almas Shintemirov. 2014. An Open-Source 3D Printed Underactuated Robotic Gripper. https://doi.org/10.1109/MESA.2014.6935605

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  1. Acti-V-Link: An Active Surface, Visual Feedback Based, Mechanically Underactuated Gripper for In-Hand Manipulation

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        cover image ACM Other conferences
        RobCE '24: Proceedings of the 2024 4th International Conference on Robotics and Control Engineering
        June 2024
        186 pages
        ISBN:9798400716782
        DOI:10.1145/3674746
        Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for components of this work owned by others than the author(s) must be honored. Abstracting with credit is permitted. To copy otherwise, or republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. Request permissions from [email protected].

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        Published: 21 August 2024

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        Author Tags

        1. In-hand manipulation
        2. active-surfaces
        3. bang-bang controller
        4. under-actuated mechanisms

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