Velvet fingers: Grasp planning and execution for an underactuated gripper with active surfaces

Robert Krug; Todor Stoyanov; Manuel Bonilla; Vinicio Tincani; Narunas Vaskevicius; Gualtiero Fantoni; Andreas Birk; Achim Lilienthal; Antonio Bicchi

doi:10.1109/ICRA.2014.6907390

Velvet fingers: Grasp planning and execution for an underactuated gripper with active surfaces

Robert Krug, Todor Stoyanov, Manuel Bonilla, Vinicio Tincani, Narunas Vaskevicius, Gualtiero Fantoni, Andreas Birk, Achim Lilienthal, Antonio Bicchi

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

12 Scopus citations

Abstract

In this work we tackle the problem of planning grasps for an underactuated gripper which enable it to retrieve target objects from a cluttered environment. Furthermore, we investigate how additional manipulation capabilities of the gripping device, provided by active surfaces on the inside of the fingers, can lead to performance improvement in the grasp execution process. To this end, we employ a simple strategy, in which the target object is 'pulled-in' towards the palm during grasping which results in firm enveloping grasps. We show the effectiveness of the suggested methods by means of experiments conducted in a real-world scenario.

Original language	English
Title of host publication	Proceedings - IEEE International Conference on Robotics and Automation
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	3669-3675
Number of pages	7
ISBN (Electronic)	9781479936854, 9781479936854
DOIs	https://doi.org/10.1109/ICRA.2014.6907390
State	Published - 22 Sep 2014
Externally published	Yes
Event	2014 IEEE International Conference on Robotics and Automation, ICRA 2014 - Hong Kong, China Duration: 31 May 2014 → 7 Jun 2014

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)	1050-4729

Conference

Conference	2014 IEEE International Conference on Robotics and Automation, ICRA 2014
Country/Territory	China
City	Hong Kong
Period	31/05/14 → 7/06/14

Access to Document

10.1109/ICRA.2014.6907390

Cite this

Krug, R., Stoyanov, T., Bonilla, M., Tincani, V., Vaskevicius, N., Fantoni, G., Birk, A., Lilienthal, A., & Bicchi, A. (2014). Velvet fingers: Grasp planning and execution for an underactuated gripper with active surfaces. In Proceedings - IEEE International Conference on Robotics and Automation (pp. 3669-3675). Article 6907390 (Proceedings - IEEE International Conference on Robotics and Automation). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2014.6907390

Krug, Robert ; Stoyanov, Todor ; Bonilla, Manuel et al. / Velvet fingers : Grasp planning and execution for an underactuated gripper with active surfaces. Proceedings - IEEE International Conference on Robotics and Automation. Institute of Electrical and Electronics Engineers Inc., 2014. pp. 3669-3675 (Proceedings - IEEE International Conference on Robotics and Automation).

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title = "Velvet fingers: Grasp planning and execution for an underactuated gripper with active surfaces",

abstract = "In this work we tackle the problem of planning grasps for an underactuated gripper which enable it to retrieve target objects from a cluttered environment. Furthermore, we investigate how additional manipulation capabilities of the gripping device, provided by active surfaces on the inside of the fingers, can lead to performance improvement in the grasp execution process. To this end, we employ a simple strategy, in which the target object is 'pulled-in' towards the palm during grasping which results in firm enveloping grasps. We show the effectiveness of the suggested methods by means of experiments conducted in a real-world scenario.",

author = "Robert Krug and Todor Stoyanov and Manuel Bonilla and Vinicio Tincani and Narunas Vaskevicius and Gualtiero Fantoni and Andreas Birk and Achim Lilienthal and Antonio Bicchi",

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year = "2014",

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doi = "10.1109/ICRA.2014.6907390",

language = "English",

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Krug, R, Stoyanov, T, Bonilla, M, Tincani, V, Vaskevicius, N, Fantoni, G, Birk, A, Lilienthal, A & Bicchi, A 2014, Velvet fingers: Grasp planning and execution for an underactuated gripper with active surfaces. in Proceedings - IEEE International Conference on Robotics and Automation., 6907390, Proceedings - IEEE International Conference on Robotics and Automation, Institute of Electrical and Electronics Engineers Inc., pp. 3669-3675, 2014 IEEE International Conference on Robotics and Automation, ICRA 2014, Hong Kong, China, 31/05/14. https://doi.org/10.1109/ICRA.2014.6907390

Velvet fingers: Grasp planning and execution for an underactuated gripper with active surfaces. / Krug, Robert; Stoyanov, Todor; Bonilla, Manuel et al.
Proceedings - IEEE International Conference on Robotics and Automation. Institute of Electrical and Electronics Engineers Inc., 2014. p. 3669-3675 6907390 (Proceedings - IEEE International Conference on Robotics and Automation).

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

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AU - Vaskevicius, Narunas

AU - Fantoni, Gualtiero

AU - Birk, Andreas

AU - Lilienthal, Achim

AU - Bicchi, Antonio

PY - 2014/9/22

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N2 - In this work we tackle the problem of planning grasps for an underactuated gripper which enable it to retrieve target objects from a cluttered environment. Furthermore, we investigate how additional manipulation capabilities of the gripping device, provided by active surfaces on the inside of the fingers, can lead to performance improvement in the grasp execution process. To this end, we employ a simple strategy, in which the target object is 'pulled-in' towards the palm during grasping which results in firm enveloping grasps. We show the effectiveness of the suggested methods by means of experiments conducted in a real-world scenario.

AB - In this work we tackle the problem of planning grasps for an underactuated gripper which enable it to retrieve target objects from a cluttered environment. Furthermore, we investigate how additional manipulation capabilities of the gripping device, provided by active surfaces on the inside of the fingers, can lead to performance improvement in the grasp execution process. To this end, we employ a simple strategy, in which the target object is 'pulled-in' towards the palm during grasping which results in firm enveloping grasps. We show the effectiveness of the suggested methods by means of experiments conducted in a real-world scenario.

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Krug R, Stoyanov T, Bonilla M, Tincani V, Vaskevicius N, Fantoni G et al. Velvet fingers: Grasp planning and execution for an underactuated gripper with active surfaces. In Proceedings - IEEE International Conference on Robotics and Automation. Institute of Electrical and Electronics Engineers Inc. 2014. p. 3669-3675. 6907390. (Proceedings - IEEE International Conference on Robotics and Automation). doi: 10.1109/ICRA.2014.6907390

Velvet fingers: Grasp planning and execution for an underactuated gripper with active surfaces

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