Related papers: Optimized Synthesis of Snapping Fixtures
This paper explores the production of a specified object using a combination of machining processes, including milling, shaping, and drilling, while emphasizing the critical role of fixture design in ensuring precision repeatability, and…
Snap-fits are versatile mechanical designs in industrial products, which enable the repeated assembling and disassembling of two solid parts. This important property is attributed to a fine balance between geometry, friction, and bending…
Soft robotic grippers are essential for grasping delicate, geometrically complex objects in manufacturing, healthcare and agriculture. However, existing grippers struggle to grasp feature-rich objects with high topological variability,…
The rise in additive manufacturing comes with unique opportunities and challenges. Massive part customization and rapid design changes are made possible with additive manufacturing, however, manufacturing industries that desire the…
This paper develops model-based grasp planning algorithms for assembly tasks. It focuses on industrial end-effectors like grippers and suction cups, and plans grasp configurations considering CAD models of target objects. The developed…
This paper presents a fixturing strategy for regrasping that does not require a physical fixture. To regrasp an object in a gripper, a robot pushes the object against external contact/s in the environment such that the external contact…
This paper proposes a novel robotic hand design for assembly tasks. The idea is to combine two simple grippers -- an inner gripper which is used for precise alignment, and an outer gripper which is used for stable holding. Conventional…
Sim-to-real transfer remains a significant challenge in soft robotics due to the unpredictability introduced by common manufacturing processes such as 3D printing and molding. These processes often result in deviations from simulated…
Fine assembly tasks such as electrical connector insertion have tight tolerances and sensitive components, limiting the speed and robustness of robot assembly, even when using vision, tactile, or force sensors. Connector insertion is a…
Motivated by the challenging formation stabilization problem for mobile robotic teams when no distance or relative displacement measurements are available and each robot can only measure some of those angles formed by rays towards its…
Grasping is an essential capability for most robots in practical applications. Soft robotic grippers are considered as a critical part of robotic grasping and have attracted considerable attention in terms of the advantages of the high…
Grasping algorithms have evolved from planar depth grasping to utilizing point cloud information, allowing for application in a wider range of scenarios. However, data-driven grasps based on models trained on basic open-source datasets may…
We propose a novel tri-fingered soft robotic gripper with decoupled stiffness and shape control capability for performing adaptive grasping with minimum system complexity. The proposed soft fingers adaptively conform to object shapes…
For robot manipulation, both the controller and end-effector design are crucial. Soft grippers are generalizable by deforming to different geometries, but designing such a gripper and finding its grasp pose remains challenging. In this…
Grasping a variety of objects remains a key challenge in the development of versatile robotic systems. The human hand is remarkably dexterous, capable of grasping and manipulating objects with diverse shapes, mechanical properties, and…
Grasp synthesis for 3D deformable objects remains a little-explored topic, most works aiming to minimize deformations. However, deformations are not necessarily harmful -- humans are, for example, able to exploit deformations to generate…
This paper presents a systematic topology optimization framework for designing a soft pneumatic gripper (SPG), explicitly considering the design-dependent nature of the actuating load. The load is modeled using Darcy's law with an added…
In this paper, we introduce a new model for sublinear algorithms called \emph{dynamic sketching}. In this model, the underlying data is partitioned into a large \emph{static} part and a small \emph{dynamic} part and the goal is to compute a…
A key challenge in robotics is to create efficient methods for grasping objects with diverse shapes, sizes, poses, and properties. Grasping with hand-like end effectors often requires careful selection of hand orientation and finger…
Computational design can excite the full potential of soft robotics that has the drawbacks of being highly nonlinear from material, structure, and contact. Up to date, enthusiastic research interests have been demonstrated for individual…