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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. To calculate the probability that an object will take a particular trajectory, we model the physics...
Ultra-thin dies are difficult to package because of their fragility and flexibility. Current ultra-thin die integration technology for 3D microsystems relies on robotic pick-and-place machines and machine vision, which has rather limited throughput for high-accuracy assembly of fragile ultra-thin dies. In this paper, we report a hybrid assembly strategy that consists of robotic pick-and-place using...
In a previous investigation, the minimum energy and power requirements for earthworm locomotion over flexible surfaces were analyzed. The optimum conditions of locomotion were obtained as a function of the number of cells, friction coefficients, stroke length, energy recovery factor, and tangential compliance. In this paper we focus on the energy requirements of inchworms which, unlike earthworms,...
This paper presents a method for assembling small parts typically found in consumer electronics such as cell phones and PDAs. Unlike traditional automation solutions that require parts be fully fixed, the proposed method allows a part, when pushed, to move in a partially constrained manner relative to its fixture. The pushing motion comes from the mating part gripped by the robot. The fixture and...
The original design of multifingered gripper in the shape of human hand with flexible fingers dedicated for humanoid robot ROMAN is presented in the paper. The design work was concentated on ensuring that the hand can contact with a variety of different shape objects made of flexible materials of different properties as well as fragile objects requiring particular caution when manipulated. Additionally...
This paper analyzes the effect of constraining a large deformation of elastic fingers of a structurally simple gripper on the gripping force to enhance the handling range for the purpose of developing a robot gripper for agricultural applications. The elastic fingers are modeled as a series of rigid links connected with torsional springs, and the finger deformation is analyzed based on the principle...
This paper presents the device and method to drive handling gripper using multi links mechanism in stepwise. The driving mechanism is related with the driving control bar to be moved. Stepwise driving parts to have driving power are arranged on moving path of driving control bar and driven by releasing the constraint as the driving control bar is approached closely. If the approach of driving control...
Recently, it has been researched to adopt the dual arm robot at the packaging and assembly line of an electric device such as a mobile phone. At the research area of the end-effector development, it is necessary to extract demanded functions and to allocate these functions to allowable numbers of end-of-arm-tool (EOAT). On allocating steps, it is often occurred that one EOAT must grip materials with...
We present a mobile manipulation platform operated by a motor-impaired person using input from a head-tracker, single-button mouse. The platform is used to perform varied and unscripted manipulation tasks in a real home, combining navigation, perception and manipulation. The operator can make use of a wide range of interaction methods and tools, from direct tele-operation of the gripper or mobile...
The IEEE RAS Ontologies for Robotics and Automation Working Group is dedicated to developing a methodology for knowledge representation and reasoning in robotics and automation. As part of this working group, the Industrial Robots sub-group is tasked with studying industrial applications of the ontology. One of the first areas of interest for this subgroup is the area of kit building or kitting. This...
Manipulators, which are mounted on robots that substitute man at dangerous places like indoors and outdoors disaster sites or mine fields, have been mainly controlled by joysticks. However, joysticks are difficult to manipulate and complex tasks become hard to be done by operators because of a limit and discordance of controlled degree of freedom. Therefore, a controller with high operability like...
In this paper, additional manipulating function for limited narrow space with omnidirectional driving gear was described. The validity and advantage of the proposed function was also confirmed through experiments using the actual prototype of the planar omnidirectional driving gear units for the parallel gripper.
Maintaining the grip on an artery with a pulsating impedance, holding the steering wheel of a vehicle on a bumpy terrain, or holding a live hamster without excessive squeezing may be trivial tasks to most humans. However, a robot will find it very difficult to maintain the grip of such uncertain objects based on real-time feedback control. This paper presents a stochastic control law to maintain the...
One of the challenges for artificial agents is managing the complexity of their environment and task domain as they learn increasingly difficult tasks. This is especially true of agents that are grounded in the physical world, which contains a vast number of features and potentially very complex dynamics. A scalable solution to this problem in terms of forming, managing, and re-using compact, grounded...
The design of grasping and manipulation systems is one of the most investigated topics in recent robotic and automation engineering. It is a process that has to take into account many development possibilities and to face different trade offs, as that between application possibilities and design complexity. In this work we present the design of a novel end-effector that merges the essential mechanics...
This paper presents a concept for extending the functionality of robot hands so that they can better manipulate objects too small for an enveloping power grasp. Rather than pinching these objects between the fingertips of a hand, a miniature hand is embedded recursively on the end of a finger, enabling a power grasp on a smaller scale. The mechanics of designing such a gripper to operate without adding...
Flexible robot assistants allow reducing the costs of acquisition for the automation of small lot sizes in industrial assembly. To additionally decrease the cost for initial start-up and to reach profitability, new concepts for programming these systems are needed. This work describes an approach for a human-machine-interface that enables operators without expert knowledge to commission complex assembly...
This paper presents a reasoned approach to specifying the number of degrees of freedom on a power line-mounted inspection robot, which is capable of climbing around obstacles found on overhead conductors, including jumper cables. A summary of the robot's hardware design is also provided, with experience gained on a first prototype influencing major design aspects on a second prototype, which in turn...
The simulation of Explosive Ordnance Disposal and Improvised Explosive Device Disposal Robots (EOD/IEDD robots) is a tremendous technical challenge to military engineers. The objective of such simulations is to prepare the operational forces for real-life missions as fully as possible by plausibly simulating the robot's handling and steering characteristics as well as its complex interaction with...
One of the tasks which we expect executing by home service robots is a handling of thin objects like papers or plastic cards. It is a difficult task for the home service robots to pick up a thin object placed on the table, because it needs high dexterity. To achieve this motion by home service robots, we used a two-fingered parallel soft gripper with a soft nail, and constructed a sequence of picking...
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