Pneumatic shape-shifting fingers to reorient and grasp
We present pneumatic shape-shifting fingers to enable a simple parallel-jaw gripper for different manipulation modalities. By changing the finger geometry, the gripper effectively changes the contact type between the fingers and an object to facilitate distinct manipulation primitives. In this paper...
| Main Authors: | , , |
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| Other Authors: | |
| Format: | Article |
| Language: | English |
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Institute of Electrical and Electronics Engineers (IEEE)
2021
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| Online Access: | https://hdl.handle.net/1721.1/130008 |
| _version_ | 1826194838563848192 |
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| author | Chavan-Dafie, Nikhil Lee, Kyubin Rodriguez, Alberto |
| author2 | Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science |
| author_facet | Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science Chavan-Dafie, Nikhil Lee, Kyubin Rodriguez, Alberto |
| author_sort | Chavan-Dafie, Nikhil |
| collection | MIT |
| description | We present pneumatic shape-shifting fingers to enable a simple parallel-jaw gripper for different manipulation modalities. By changing the finger geometry, the gripper effectively changes the contact type between the fingers and an object to facilitate distinct manipulation primitives. In this paper, we demonstrate the development and application of shape-shifting fingers to reorient and grasp cylindrical objects. The shape of the fingers changes based on the air pressure inside them and attains two distinct geometric forms at high and low pressure values. In our implementation, the finger shape switches between a wedge-shaped geometry and V-shaped geometry at high and low pressure, respectively. Using the wedge-shaped geometry, the fingers provide a point contact on a cylindrical object to pivot it to a vertical pose under the effect of gravity. By changing to V-shaped geometry, the fingers localize the object in the vertical pose and securely hold it. Experimental results show that the smooth transition between the two contact types allows a robot with a simple gripper to reorient a cylindrical object lying horizontally on a ground and to grasp it in a vertical pose. |
| first_indexed | 2024-09-23T10:02:38Z |
| format | Article |
| id | mit-1721.1/130008 |
| institution | Massachusetts Institute of Technology |
| language | English |
| last_indexed | 2024-09-23T10:02:38Z |
| publishDate | 2021 |
| publisher | Institute of Electrical and Electronics Engineers (IEEE) |
| record_format | dspace |
| spelling | mit-1721.1/1300082022-09-30T18:33:14Z Pneumatic shape-shifting fingers to reorient and grasp Chavan-Dafie, Nikhil Lee, Kyubin Rodriguez, Alberto Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory We present pneumatic shape-shifting fingers to enable a simple parallel-jaw gripper for different manipulation modalities. By changing the finger geometry, the gripper effectively changes the contact type between the fingers and an object to facilitate distinct manipulation primitives. In this paper, we demonstrate the development and application of shape-shifting fingers to reorient and grasp cylindrical objects. The shape of the fingers changes based on the air pressure inside them and attains two distinct geometric forms at high and low pressure values. In our implementation, the finger shape switches between a wedge-shaped geometry and V-shaped geometry at high and low pressure, respectively. Using the wedge-shaped geometry, the fingers provide a point contact on a cylindrical object to pivot it to a vertical pose under the effect of gravity. By changing to V-shaped geometry, the fingers localize the object in the vertical pose and securely hold it. Experimental results show that the smooth transition between the two contact types allows a robot with a simple gripper to reorient a cylindrical object lying horizontally on a ground and to grasp it in a vertical pose. 2021-02-26T16:21:52Z 2021-02-26T16:21:52Z 2018-12 2018-08 2020-07-31T18:20:22Z Article http://purl.org/eprint/type/ConferencePaper 9781538635933 9781538635940 2161-8089 https://hdl.handle.net/1721.1/130008 Chavan-Dafie, Nikhil et al. "Pneumatic shape-shifting fingers to reorient and grasp." IEEE 14th International Conference on Automation Science and Engineering, August 2018, Munich, Germany, Institute of Electrical and Electronics Engineers, December 2018. © 2018 IEEE en http://dx.doi.org/10.1109/coase.2018.8560472 IEEE 14th International Conference on Automation Science and Engineering (CASE) Creative Commons Attribution-Noncommercial-Share Alike http://creativecommons.org/licenses/by-nc-sa/4.0/ application/pdf Institute of Electrical and Electronics Engineers (IEEE) arXiv |
| spellingShingle | Chavan-Dafie, Nikhil Lee, Kyubin Rodriguez, Alberto Pneumatic shape-shifting fingers to reorient and grasp |
| title | Pneumatic shape-shifting fingers to reorient and grasp |
| title_full | Pneumatic shape-shifting fingers to reorient and grasp |
| title_fullStr | Pneumatic shape-shifting fingers to reorient and grasp |
| title_full_unstemmed | Pneumatic shape-shifting fingers to reorient and grasp |
| title_short | Pneumatic shape-shifting fingers to reorient and grasp |
| title_sort | pneumatic shape shifting fingers to reorient and grasp |
| url | https://hdl.handle.net/1721.1/130008 |
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