Advanced grasping with the Pisa/IIT softHand

Manuel Bonilla; Cosimo Della Santina; Alessio Rocchi; Emanuele Luberto; Gaspare Santaera; Edoardo Farnioli; Cristina Piazza; Fabio Bonomo; Alberto Brando; Alessandro Raugi; Manuel G. Catalano; Matteo Bianchi; Manolo Garabini; Giorgio Grioli; Antonio Bicchi

doi:10.1007/978-3-319-94568-2_2

Advanced grasping with the Pisa/IIT softHand

Manuel Bonilla, Cosimo Della Santina, Alessio Rocchi, Emanuele Luberto, Gaspare Santaera, Edoardo Farnioli, Cristina Piazza, Fabio Bonomo, Alberto Brando, Alessandro Raugi, Manuel G. Catalano, Matteo Bianchi, Manolo Garabini, Giorgio Grioli, Antonio Bicchi

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

1 Scopus citations

Abstract

This chapter presents the hardware, software and overall strategy used by the team UNIPI-IIT-QB to participate to the Robotic Grasping and Manipulation Competition. It relies on the PISA/IIT SoftHand, which is underactuated soft robotic hand that can adapt to the grasped object shape and is compliant with the environment. It was used for the hand-in-hand and for the simulation tracks, where the team reached first and third places respectively.

Original language	English
Title of host publication	Robotic Grasping and Manipulation - First Robotic Grasping and Manipulation Challenge, RGMC 2016, Held in Conjunction with IROS 2016, Revised Papers
Editors	Joe Falco, Yu Sun
Publisher	Springer Verlag
Pages	19-38
Number of pages	20
ISBN (Print)	9783319945675
DOIs	https://doi.org/10.1007/978-3-319-94568-2_2
State	Published - 2018
Externally published	Yes
Event	1st International Conference on Intelligent Robots and Systems, IROS 2016 - Daejeon, Korea, Republic of Duration: 10 Oct 2016 → 12 Oct 2016

Publication series

Name	Communications in Computer and Information Science
Volume	816
ISSN (Print)	1865-0929

Conference

Conference	1st International Conference on Intelligent Robots and Systems, IROS 2016
Country/Territory	Korea, Republic of
City	Daejeon
Period	10/10/16 → 12/10/16

Keywords

Grasp planning
Grasp simulation
Grasping

Access to Document

10.1007/978-3-319-94568-2_2

Cite this

Bonilla, M., Santina, C. D., Rocchi, A., Luberto, E., Santaera, G., Farnioli, E., Piazza, C., Bonomo, F., Brando, A., Raugi, A., Catalano, M. G., Bianchi, M., Garabini, M., Grioli, G., & Bicchi, A. (2018). Advanced grasping with the Pisa/IIT softHand. In J. Falco, & Y. Sun (Eds.), Robotic Grasping and Manipulation - First Robotic Grasping and Manipulation Challenge, RGMC 2016, Held in Conjunction with IROS 2016, Revised Papers (pp. 19-38). (Communications in Computer and Information Science; Vol. 816). Springer Verlag. https://doi.org/10.1007/978-3-319-94568-2_2

Bonilla, Manuel ; Santina, Cosimo Della ; Rocchi, Alessio et al. / Advanced grasping with the Pisa/IIT softHand. Robotic Grasping and Manipulation - First Robotic Grasping and Manipulation Challenge, RGMC 2016, Held in Conjunction with IROS 2016, Revised Papers. editor / Joe Falco ; Yu Sun. Springer Verlag, 2018. pp. 19-38 (Communications in Computer and Information Science).

@inproceedings{b781bcb531634f9984209ca8b964f281,

title = "Advanced grasping with the Pisa/IIT softHand",

abstract = "This chapter presents the hardware, software and overall strategy used by the team UNIPI-IIT-QB to participate to the Robotic Grasping and Manipulation Competition. It relies on the PISA/IIT SoftHand, which is underactuated soft robotic hand that can adapt to the grasped object shape and is compliant with the environment. It was used for the hand-in-hand and for the simulation tracks, where the team reached first and third places respectively.",

keywords = "Grasp planning, Grasp simulation, Grasping",

author = "Manuel Bonilla and Santina, {Cosimo Della} and Alessio Rocchi and Emanuele Luberto and Gaspare Santaera and Edoardo Farnioli and Cristina Piazza and Fabio Bonomo and Alberto Brando and Alessandro Raugi and Catalano, {Manuel G.} and Matteo Bianchi and Manolo Garabini and Giorgio Grioli and Antonio Bicchi",

note = "Publisher Copyright: {\textcopyright} Springer International Publishing AG, part of Springer Nature 2018.; 1st International Conference on Intelligent Robots and Systems, IROS 2016 ; Conference date: 10-10-2016 Through 12-10-2016",

year = "2018",

doi = "10.1007/978-3-319-94568-2_2",

language = "English",

isbn = "9783319945675",

series = "Communications in Computer and Information Science",

publisher = "Springer Verlag",

pages = "19--38",

editor = "Joe Falco and Yu Sun",

booktitle = "Robotic Grasping and Manipulation - First Robotic Grasping and Manipulation Challenge, RGMC 2016, Held in Conjunction with IROS 2016, Revised Papers",

}

Bonilla, M, Santina, CD, Rocchi, A, Luberto, E, Santaera, G, Farnioli, E, Piazza, C, Bonomo, F, Brando, A, Raugi, A, Catalano, MG, Bianchi, M, Garabini, M, Grioli, G & Bicchi, A 2018, Advanced grasping with the Pisa/IIT softHand. in J Falco & Y Sun (eds), Robotic Grasping and Manipulation - First Robotic Grasping and Manipulation Challenge, RGMC 2016, Held in Conjunction with IROS 2016, Revised Papers. Communications in Computer and Information Science, vol. 816, Springer Verlag, pp. 19-38, 1st International Conference on Intelligent Robots and Systems, IROS 2016, Daejeon, Korea, Republic of, 10/10/16. https://doi.org/10.1007/978-3-319-94568-2_2

Advanced grasping with the Pisa/IIT softHand. / Bonilla, Manuel; Santina, Cosimo Della; Rocchi, Alessio et al.
Robotic Grasping and Manipulation - First Robotic Grasping and Manipulation Challenge, RGMC 2016, Held in Conjunction with IROS 2016, Revised Papers. ed. / Joe Falco; Yu Sun. Springer Verlag, 2018. p. 19-38 (Communications in Computer and Information Science; Vol. 816).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Advanced grasping with the Pisa/IIT softHand

AU - Bonilla, Manuel

AU - Santina, Cosimo Della

AU - Rocchi, Alessio

AU - Luberto, Emanuele

AU - Santaera, Gaspare

AU - Farnioli, Edoardo

AU - Piazza, Cristina

AU - Bonomo, Fabio

AU - Brando, Alberto

AU - Raugi, Alessandro

AU - Catalano, Manuel G.

AU - Bianchi, Matteo

AU - Garabini, Manolo

AU - Grioli, Giorgio

AU - Bicchi, Antonio

PY - 2018

Y1 - 2018

N2 - This chapter presents the hardware, software and overall strategy used by the team UNIPI-IIT-QB to participate to the Robotic Grasping and Manipulation Competition. It relies on the PISA/IIT SoftHand, which is underactuated soft robotic hand that can adapt to the grasped object shape and is compliant with the environment. It was used for the hand-in-hand and for the simulation tracks, where the team reached first and third places respectively.

AB - This chapter presents the hardware, software and overall strategy used by the team UNIPI-IIT-QB to participate to the Robotic Grasping and Manipulation Competition. It relies on the PISA/IIT SoftHand, which is underactuated soft robotic hand that can adapt to the grasped object shape and is compliant with the environment. It was used for the hand-in-hand and for the simulation tracks, where the team reached first and third places respectively.

KW - Grasp planning

KW - Grasp simulation

KW - Grasping

UR - http://www.scopus.com/inward/record.url?scp=85050373135&partnerID=8YFLogxK

U2 - 10.1007/978-3-319-94568-2_2

DO - 10.1007/978-3-319-94568-2_2

M3 - Conference contribution

AN - SCOPUS:85050373135

SN - 9783319945675

T3 - Communications in Computer and Information Science

SP - 19

EP - 38

BT - Robotic Grasping and Manipulation - First Robotic Grasping and Manipulation Challenge, RGMC 2016, Held in Conjunction with IROS 2016, Revised Papers

A2 - Falco, Joe

A2 - Sun, Yu

PB - Springer Verlag

T2 - 1st International Conference on Intelligent Robots and Systems, IROS 2016

Y2 - 10 October 2016 through 12 October 2016

ER -

Bonilla M, Santina CD, Rocchi A, Luberto E, Santaera G, Farnioli E et al. Advanced grasping with the Pisa/IIT softHand. In Falco J, Sun Y, editors, Robotic Grasping and Manipulation - First Robotic Grasping and Manipulation Challenge, RGMC 2016, Held in Conjunction with IROS 2016, Revised Papers. Springer Verlag. 2018. p. 19-38. (Communications in Computer and Information Science). doi: 10.1007/978-3-319-94568-2_2

Advanced grasping with the Pisa/IIT softHand

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Keywords

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