Related papers: Human evaluation of robotic grippers for berry pic…

Gestures are a natural form of communication between humans and can also be leveraged for human-robot interaction. This work presents a gesture-based user interface for object selection using pointing and click gestures. An experiment with…

The human hand has an inherent ability to manipulate and re-orientate objects without external assistance. As a consequence, we are able to operate tools and perform an array of actions using just one hand, without having to continuously…

Grasping objects with diverse mechanical properties, such as heavy, slippery, or fragile items, remains a significant challenge in robotics. Conventional rigid grippers typically rely on increasing the normal forces to secure an object,…

Manipulating deformable objects in robotic cells is often costly and not widely accessible. However, the use of localized pneumatic gripping systems can enhance accessibility. Current methods that use pneumatic grippers to handle deformable…

In this paper, we present the lessons learnt during the development of a new robotic harvester (Harvey) that can autonomously harvest sweet pepper (capsicum) in protected cropping environments. Robotic harvesting offers an attractive…

A shared grasp is a grasp formed by contacts between the manipulated object and both the robot hand and the environment. By trading off hand contacts for environmental contacts, a shared grasp requires fewer contacts with the hand, and…

Robotic Grasping has always been an active topic in robotics since grasping is one of the fundamental but most challenging skills of robots. It demands the coordination of robotic perception, planning, and control for robustness and…

In this paper, design and development of a sensor integrated adaptive gripper is presented. Adaptive grippers are useful for grasping objects of varied geometric shapes by wrapping fingers around the object. The finger closing sequence in…

This work details the design of a novel two finger robot gripper with multiple Gelsight based optical-tactile sensors covering the inner surface of the hand. The multiple Gelsight sensors can gather the surface topology of the object from…

Accurate estimation of fruit hardness is essential for automated classification and handling systems, particularly in determining fruit variety, assessing ripeness, and ensuring proper harvesting force. This study presents an innovative…

A robust grip is key to successful manipulation and joining of work pieces involved in any industrial assembly process. Stability of a grip depends on geometric and physical properties of the object as well as the gripper itself. Current…

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…

We experimentally evaluated the accuracy with which material properties can be estimated through object compression by two standard parallel jaw grippers and a force/torque sensor mounted at the robot wrist, with a professional biaxial…

Grasping objects with diverse mechanical properties, such as heavy, slippery, or fragile items, remains a significant challenge in robotics. Conventional grippers often rely on applying high normal forces, which can cause damage to objects.…

We present a new approach to robot hand design specifically suited for successfully implementing robot learning methods to accomplish tasks in daily human environments. We introduce BaRiFlex, an innovative gripper design that alleviates the…

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…

In this paper, we present a structured approach to selecting and designing a set of grippers for an assembly task. Compared to current experience-based gripper design method, our approach accelerates the design process by automatically…

Under-actuated robot grippers as a pervasive tool of robots have become a considerable research focus. Despite their simplicity of mechanical design and control strategy, they suffer from poor versatility and weak adaptability, making…

We present a benchmarking study of vision-based robotic grasping algorithms and provide a comparative analysis. In particular, we compare two machine-learning-based and two analytical algorithms using an existing benchmarking protocol from…

Tree fruit growers around the world are facing labor shortages for critical operations, including harvest and pruning. There is a great interest in developing robotic solutions for these labor-intensive tasks, but current efforts have been…