Autonomous Object Manipulation Using a Soft Planar Grasping Manipulator
This article presents the development of an autonomous motion planning algorithm for a soft planar grasping manipulator capable of grasp-and-place operations by encapsulation with uncertainty in the position and shape of the object. The end effector of the soft manipulator is fabricated in one piece...
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| Format: | Article |
| Language: | en_US |
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Mary Ann Liebert, Inc.
2017
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| Online Access: | http://hdl.handle.net/1721.1/108132 https://orcid.org/0000-0001-7143-7259 https://orcid.org/0000-0001-5473-3566 |
| _version_ | 1811078549828796416 |
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| author | Katzschmann, Robert Kevin Rus, Daniela L Marchese, Andrew Dominic |
| author2 | Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory |
| author_facet | Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory Katzschmann, Robert Kevin Rus, Daniela L Marchese, Andrew Dominic |
| author_sort | Katzschmann, Robert Kevin |
| collection | MIT |
| description | This article presents the development of an autonomous motion planning algorithm for a soft planar grasping manipulator capable of grasp-and-place operations by encapsulation with uncertainty in the position and shape of the object. The end effector of the soft manipulator is fabricated in one piece without weakening seams using lost-wax casting instead of the commonly used multilayer lamination process. The soft manipulation system can grasp randomly positioned objects within its reachable envelope and move them to a desired location without human intervention. The autonomous planning system leverages the compliance and continuum bending of the soft grasping manipulator to achieve repeatable grasps in the presence of uncertainty. A suite of experiments is presented that demonstrates the system's capabilities. |
| first_indexed | 2024-09-23T11:01:57Z |
| format | Article |
| id | mit-1721.1/108132 |
| institution | Massachusetts Institute of Technology |
| language | en_US |
| last_indexed | 2024-09-23T11:01:57Z |
| publishDate | 2017 |
| publisher | Mary Ann Liebert, Inc. |
| record_format | dspace |
| spelling | mit-1721.1/1081322022-09-27T16:39:55Z Autonomous Object Manipulation Using a Soft Planar Grasping Manipulator Katzschmann, Robert Kevin Rus, Daniela L Marchese, Andrew Dominic Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science Massachusetts Institute of Technology. Department of Mechanical Engineering Katzschmann, Robert Kevin Rus, Daniela L Marchese, Andrew Dominic This article presents the development of an autonomous motion planning algorithm for a soft planar grasping manipulator capable of grasp-and-place operations by encapsulation with uncertainty in the position and shape of the object. The end effector of the soft manipulator is fabricated in one piece without weakening seams using lost-wax casting instead of the commonly used multilayer lamination process. The soft manipulation system can grasp randomly positioned objects within its reachable envelope and move them to a desired location without human intervention. The autonomous planning system leverages the compliance and continuum bending of the soft grasping manipulator to achieve repeatable grasps in the presence of uncertainty. A suite of experiments is presented that demonstrates the system's capabilities. National Science Foundation (U.S.) (NSF 1117178) National Science Foundation (U.S.) (NSF IIS1226883) National Science Foundation (U.S.) (NSF CCF1138967) National Science Foundation (U.S.) (1122374) 2017-04-13T18:37:05Z 2017-04-13T18:37:05Z 2015-12 Article http://purl.org/eprint/type/JournalArticle 2169-5172 2169-5180 http://hdl.handle.net/1721.1/108132 Katzschmann, Robert K., Andrew D. Marchese, and Daniela Rus. “Autonomous Object Manipulation Using a Soft Planar Grasping Manipulator.” Soft Robotics 2, no. 4 (December 2015): 155–164. https://orcid.org/0000-0001-7143-7259 https://orcid.org/0000-0001-5473-3566 en_US http://dx.doi.org/10.1089/soro.2015.0013 Soft Robotics Creative Commons Attribution-NonCommercial 4.0 International http://creativecommons.org/licenses/by-nc/4.0/ application/pdf Mary Ann Liebert, Inc. Mary Ann Liebert |
| spellingShingle | Katzschmann, Robert Kevin Rus, Daniela L Marchese, Andrew Dominic Autonomous Object Manipulation Using a Soft Planar Grasping Manipulator |
| title | Autonomous Object Manipulation Using a Soft Planar Grasping Manipulator |
| title_full | Autonomous Object Manipulation Using a Soft Planar Grasping Manipulator |
| title_fullStr | Autonomous Object Manipulation Using a Soft Planar Grasping Manipulator |
| title_full_unstemmed | Autonomous Object Manipulation Using a Soft Planar Grasping Manipulator |
| title_short | Autonomous Object Manipulation Using a Soft Planar Grasping Manipulator |
| title_sort | autonomous object manipulation using a soft planar grasping manipulator |
| url | http://hdl.handle.net/1721.1/108132 https://orcid.org/0000-0001-7143-7259 https://orcid.org/0000-0001-5473-3566 |
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