A Sensorized Hybrid Gripper to Evaluate a Grasping Quality based on a Largest Minimum Wrench

Cited 0 times inthomson ciCited 0 times inthomson ci
Title
A Sensorized Hybrid Gripper to Evaluate a Grasping Quality based on a Largest Minimum Wrench
Author
Park, WookeunSeo, SeongminOh, JinhyeokBae, Joonbum
Issue Date
2020-04
Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
Citation
IEEE ROBOTICS AND AUTOMATION LETTERS, v.5, no.2, pp.3243 - 3250
Abstract
Soft pneumatic grippers, which are based on soft pneumatic actuators have been widely studied owing to their simple morphological structure, inherent compliance, and pliable grasp. Additionally, the integration of the soft gripper with various sensors to improve its functionality has also been extensively studied. Although the soft gripper is known to exhibit a robust grasping performance without accurate control, the grasping quality of the soft gripper has rarely been studied due to the lack of adequate embedded sensors and quality metrics of the soft gripper. Therefore, a hybrid gripper, which is a soft gripper with rigid components, was sensorized by embedding a soft force sensor and a bending sensor to evaluate the grasping quality. Furthermore, a new grasping quality metric for a soft gripper was proposed, which calculates the largest minimum wrench of a convex hull in the wrench space. The proposed grasping quality metric was experimentally verified, and a real-time program was developed to evaluate the grasping quality.
URI
https://scholarworks.unist.ac.kr/handle/201301/31124
URL
https://ieeexplore.ieee.org/document/9013064
DOI
10.1109/LRA.2020.2976312
ISSN
2377-3766
Appears in Collections:
MNE_Journal Papers
Files in This Item:
There are no files associated with this item.

find_unist can give you direct access to the published full text of this article. (UNISTARs only)

Show full item record

qrcode

  • mendeley

    citeulike

Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.

MENU