Two- and three-dimensional caging-based grasping of objects of various shapes with circular robots and multi-fingered hands

Tomohiro Egawa, Yusuke Maeda, Hideki Tsuruga

Abstract

This paper describes a geometrical method for grasping objects wherein an object is caged by rigid parts of a robot hand and simultaneously grasped by soft parts attached to said rigid parts. We term this process as caging-based grasping. In this study, we derive concrete conditions for two- and three-dimensional caging-based grasping of objects of various shapes using circular robots and multi-fingered robot hands. Then, we validate the derived conditions by performing caging-based grasping experiments.

Original languageEnglish
Title of host publicationIECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages643-648
Number of pages6
ISBN (Electronic)9781479917624
DOIs
StatePublished - 2016 Jan 25
Event41st Annual Conference of the IEEE Industrial Electronics Society, IECON 2015 - Yokohama, Japan

Other

Other41st Annual Conference of the IEEE Industrial Electronics Society, IECON 2015
CountryJapan
CityYokohama
Period15/11/915/11/12

Fingerprint

Robots
End effectors
Experiments

Keywords

  • Grasping
  • Grippers
  • Robots
  • Solids
  • Three-dimensional displays
  • Thumb

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Industrial and Manufacturing Engineering

Cite this

Egawa, T., Maeda, Y., & Tsuruga, H. (2016). Two- and three-dimensional caging-based grasping of objects of various shapes with circular robots and multi-fingered hands. In IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society. (pp. 643-648). [7392172] Institute of Electrical and Electronics Engineers Inc.. DOI: 10.1109/IECON.2015.7392172

Two- and three-dimensional caging-based grasping of objects of various shapes with circular robots and multi-fingered hands. / Egawa, Tomohiro; Maeda, Yusuke; Tsuruga, Hideki.

IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society. Institute of Electrical and Electronics Engineers Inc., 2016. p. 643-648 7392172.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Egawa, T, Maeda, Y & Tsuruga, H 2016, Two- and three-dimensional caging-based grasping of objects of various shapes with circular robots and multi-fingered hands. in IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society., 7392172, Institute of Electrical and Electronics Engineers Inc., pp. 643-648, 41st Annual Conference of the IEEE Industrial Electronics Society, IECON 2015, Yokohama, Japan, 9-12 November. DOI: 10.1109/IECON.2015.7392172
Egawa T, Maeda Y, Tsuruga H. Two- and three-dimensional caging-based grasping of objects of various shapes with circular robots and multi-fingered hands. In IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society. Institute of Electrical and Electronics Engineers Inc.2016. p. 643-648. 7392172. Available from, DOI: 10.1109/IECON.2015.7392172

Egawa, Tomohiro; Maeda, Yusuke; Tsuruga, Hideki / Two- and three-dimensional caging-based grasping of objects of various shapes with circular robots and multi-fingered hands.

IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society. Institute of Electrical and Electronics Engineers Inc., 2016. p. 643-648 7392172.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

@inbook{14d2f90c13ee403f8fa1ef99800b1297,
title = "Two- and three-dimensional caging-based grasping of objects of various shapes with circular robots and multi-fingered hands",
keywords = "Grasping, Grippers, Robots, Solids, Three-dimensional displays, Thumb",
author = "Tomohiro Egawa and Yusuke Maeda and Hideki Tsuruga",
year = "2016",
month = "1",
doi = "10.1109/IECON.2015.7392172",
pages = "643--648",
booktitle = "IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society",
publisher = "Institute of Electrical and Electronics Engineers Inc.",

}

TY - CHAP

T1 - Two- and three-dimensional caging-based grasping of objects of various shapes with circular robots and multi-fingered hands

AU - Egawa,Tomohiro

AU - Maeda,Yusuke

AU - Tsuruga,Hideki

PY - 2016/1/25

Y1 - 2016/1/25

N2 - This paper describes a geometrical method for grasping objects wherein an object is caged by rigid parts of a robot hand and simultaneously grasped by soft parts attached to said rigid parts. We term this process as caging-based grasping. In this study, we derive concrete conditions for two- and three-dimensional caging-based grasping of objects of various shapes using circular robots and multi-fingered robot hands. Then, we validate the derived conditions by performing caging-based grasping experiments.

AB - This paper describes a geometrical method for grasping objects wherein an object is caged by rigid parts of a robot hand and simultaneously grasped by soft parts attached to said rigid parts. We term this process as caging-based grasping. In this study, we derive concrete conditions for two- and three-dimensional caging-based grasping of objects of various shapes using circular robots and multi-fingered robot hands. Then, we validate the derived conditions by performing caging-based grasping experiments.

KW - Grasping

KW - Grippers

KW - Robots

KW - Solids

KW - Three-dimensional displays

KW - Thumb

UR - http://www.scopus.com/inward/record.url?scp=84973165131&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84973165131&partnerID=8YFLogxK

U2 - 10.1109/IECON.2015.7392172

DO - 10.1109/IECON.2015.7392172

M3 - Conference contribution

SP - 643

EP - 648

BT - IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society

PB - Institute of Electrical and Electronics Engineers Inc.

ER -