- Conference Paper
This work presents a soft hand capable of robustly grasping and identifying objects based on internal state measurements. A highly compliant hand allows for intrinsic robustness to grasping uncertainty, but the specific configuration of the hand and object is not known, leaving undetermined if a grasp was successful in picking up the right object. A soft finger was adapted and combined to form a three finger gripper that can easily be attached to existing robots, for example, to the wrist of the Baxter robot. Resistive bend sensors were added within each finger to provide a configuration estimate sufficient for distinguishing between a set of objects. With one data point from each finger, the object grasped by the gripper can be identified. A clustering algorithm to find the correspondence for each grasped object is presented for both enveloping grasps and pinch grasps. This hand is a first step towards robust proprioceptive soft grasping. © 2015 IEEE Show more
Book title2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Pages / Article No.
SubjectBaxter robot; Grasping; Grippers; Object recognition; Robot sensing systems; Rubber; clustering algorithm; dexterous manipulators; enveloping grasps; highly compliant hand; internal state measurements; modular soft robotic gripper; object haptic identification; pattern clustering; pinch grasps; resistive bend sensors; robust proprioceptive soft grasping; three finger gripper
Organisational unit09689 - Katzschmann, Robert / Katzschmann, Robert
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