Adaptive Grasping of Moving Objects through Tactile Sensing [PDF]
Sensors, 2021 A robot’s ability to grasp moving objects depends on the availability of real-time sensor data in both the far-field and near-field of the gripper. This research investigates the potential contribution of tactile sensing to a task of grasping an object ...
Patrick Lynch +2 more
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An Integrated Multi-Sensor Network for Adaptive Grasping of Fragile Fruits: Design and Feasibility Tests [PDF]
Sensors, 2020 Secure grasping of fragile fruits and other agricultural products without potential slip and damage is still a challenge due to the size and shape varying, bruise susceptible, as well as hardness changing during fruit and vegetable maturation.
Yuanxin Xie +4 more
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Design criterion research and application based on grasping stability for shape self-adaptive ring gripper [PDF]
Scientific ReportsExisting shape self-adaptive manipulators cannot meet the actual gripping requirements for large cylindrical objects. Furthermore, there are still some deficiencies in the design and research of shape self-adaptive manipulators for large cylindrical ...
Shuangji Yao +4 more
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Learning Adaptive Grasping From Human Demonstrations [PDF]
IEEE/ASME Transactions on Mechatronics, 2022 This work studied a learning-based approach to learn grasping policies from teleoperated human demonstrations which can achieve adaptive grasping using three different neural network (NN) structures. To transfer human grasping skills effectively, we used multi-sensing state within a sliding time window to learn the state-action mapping.
Shuaijun Wang +4 more
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Research on Adaptive Grasping with a Prosthetic Hand Based on Perceptual Information on Hardness and Surface Roughness [PDF]
MicromachinesIn order to solve the problems of methods that use a single form of sensing, the ease of causing deformation damage to the targets with a low hardness during grasping, and the slow sliding inhibition of a prosthetic hand when the grasping target slides ...
Yuxuan Wang +4 more
doaj +2 more sources
Estimation of grasp type and determining grasping points for Adaptive Grasping Device [PDF]
Archives of Control SciencesThe article describes the grasping point algorithm (GPA), aimed to determine points for picking up objects by a manipulator equipped with a proprietary gripper enabling three picking modes (suction cup, two fingers, three fingers). The paper outlines the
Michał Czubenko +2 more
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Attribute-Based Robotic Grasping with One-Grasp Adaptation [PDF]
2021 IEEE International Conference on Robotics and Automation (ICRA), 2021 Accepted to the IEEE International Conference on Robotics and Automation (ICRA 2021).
Yang, Yang +4 more
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Design of a Multi-Mode Mechanical Finger Based on Linkage and Tendon Fusion Transmission
Biomimetics, 2023 Today, most humanoid mechanical fingers use an underactuated mechanism driven by linkages or tendons, with only a single and fixed grasping trajectory.
Yi Zhang +3 more
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Mechanical Intelligence for Adaptive Precision Grasp
2021 IEEE International Conference on Robotics and Automation (ICRA), 2021 Mechanical intelligence is the use of mechanical and other physical properties to create robotic systems adaptable to new external situations using simple control schemes. Designs of robot hands have successfully been developed and optimised following this principle to produce self-adaptive and versatile power grasps via implementations based on ...
Lu, Q, Baron, N, Bai, G, Rojas, N
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Sensorimotor adaptation impedes perturbation detection in grasping
Psychonomic Bulletin & Review, 2023 Humans achieve skilled actions by continuously correcting for motor errors or perceptual misjudgments, a process called sensorimotor adaptation. This can occur both with the actor detecting (explicitly) and not detecting the error (implicitly). We investigated how the magnitude of a perturbation and the corresponding error signal each contribute to the
Carl Müller +2 more
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