Grasping Objects: The Relationship Between the Cage and the Form-Closure Grasp

Jianhua Su; Hong Qiao; Chuankai Liu; Yongbo Song; Ailong Yang

doi:10.1109/MRA.2016.2615332

Grasping Objects: The Relationship Between the Cage and the Form-Closure Grasp

Jianhua Su
, Hong Qiao
, Chuankai Liu
, Yongbo Song
, Ailong Yang

Research output: Contribution to journal › Article › peer-review

19 Scopus citations

Abstract

In various industries, there is a need for low-cost, flexible robotic grasping systems that handle and classify different items, which usually involve low-cost grippers and reliable manipulations. One-degree-offreedom (1-DoF) two-pin or three-pin grippers are widely used in the automation of manufacturing processes because of their low cost and high reliability. However, some uncertainties introduced by the object and the gripper may affect the robustness of the grasp. The principle of caging enables us to deal with these uncertainties, and it is therefore important to study caging as a practical solution to improve the grasps of 1-DoF industrial grippers.

Original language	English
Article number	7880561
Pages (from-to)	84-96
Number of pages	13
Journal	IEEE Robotics and Automation Magazine
Volume	24
Issue number	3
DOIs	https://doi.org/10.1109/MRA.2016.2615332
State	Published - Sep 2017
Externally published	Yes

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title = "Grasping Objects: The Relationship Between the Cage and the Form-Closure Grasp",

abstract = "In various industries, there is a need for low-cost, flexible robotic grasping systems that handle and classify different items, which usually involve low-cost grippers and reliable manipulations. One-degree-offreedom (1-DoF) two-pin or three-pin grippers are widely used in the automation of manufacturing processes because of their low cost and high reliability. However, some uncertainties introduced by the object and the gripper may affect the robustness of the grasp. The principle of caging enables us to deal with these uncertainties, and it is therefore important to study caging as a practical solution to improve the grasps of 1-DoF industrial grippers.",

author = "Jianhua Su and Hong Qiao and Chuankai Liu and Yongbo Song and Ailong Yang",

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AU - Su, Jianhua

AU - Qiao, Hong

AU - Liu, Chuankai

AU - Song, Yongbo

AU - Yang, Ailong

PY - 2017/9

Y1 - 2017/9

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AB - In various industries, there is a need for low-cost, flexible robotic grasping systems that handle and classify different items, which usually involve low-cost grippers and reliable manipulations. One-degree-offreedom (1-DoF) two-pin or three-pin grippers are widely used in the automation of manufacturing processes because of their low cost and high reliability. However, some uncertainties introduced by the object and the gripper may affect the robustness of the grasp. The principle of caging enables us to deal with these uncertainties, and it is therefore important to study caging as a practical solution to improve the grasps of 1-DoF industrial grippers.

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M1 - 7880561

ER -

Grasping Objects: The Relationship Between the Cage and the Form-Closure Grasp

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