Robust bin-picking system using tactile sensor

Tajima, Sho; Wakamatsu, S.; Abe, Taiki; Tennomi, Masanari; Morita, Koki; Ubata, Hirotoshi; Okamura, Atsushi; Hirai, Yuji; Morino, Kota; Suzuki, Yosuke; Tsuji, Tokuo; Yamazaki, Kimitoshi; Watanabe, Tetsuyou

doi:10.1080/01691864.2019.1702897

Cited by 7 publications

(2 citation statements)

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“…This ensures safe grip and precise positioning for all projected parts, but fails to handle parts, which deviate from what has been projected by the time of finger design. As alternatives to positivelocking grip regripping (Tajima et al 2020), visual servoing (Watson et al 2020), haptic feedback (Chin et al 2019) and novel gripper configurations (Angelini et al 2020) may be considered. How these can be combined to offer efficient new skills needs to be investigated.…”

Section: Discussionmentioning

confidence: 99%

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2022

AJTE

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ATINER is an independent and non-profit Association with a Mission to become a forum where Academics and Researchers from all over the world can meet in Athens, exchange ideas on their research and discuss future developments in their disciplines, as well as engage with professionals from other fields. Athens was chosen because of its long history of academic gatherings, which go back thousands of years to Plato"s Academy and Aristotle"s Lyceum. Both these historic places are within walking distance from ATINER"s downtown offices. Since antiquity, Athens was an open city. In the words of Pericles, Athens"…is open to the world, we never expel a foreigner from learning or seeing". ("Pericles" Funeral Oration", in Thucydides, The History of the Peloponnesian War). It is ATINER"s mission to revive the glory of Ancient Athens by inviting the World Academic Community to the city, to learn from each other in an environment of freedom and respect for other people"s opinions and beliefs. After all, the free expression of one"s opinion formed the basis for the development of democracy, and Athens was its cradle. As it turned out, the Golden Age of Athens was in fact, the Golden Age of the Western Civilization. Education and (Re)searching for the "truth" are the pillars of any free (democratic) society. This is the reason why Education and Research are the two core words in ATINER"s name.

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Section: Discussionmentioning

confidence: 99%

Untitled

2022

AJTE

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“…Combinations of multiple CNNs with the first 'pruning unlikely candidate grasps' and the second CNN used for the finer details have also been examined [20]. Additionally, CNNs are often used for the detection or determination of the orientation for known objects [21]. This can be categorized into the section of grasp hypotheses based on prior object knowledge [5], especially for the object recognition of known objects.…”

Section: Model-free Prediction and Machine Learningmentioning

confidence: 99%

Analytic and Data-Driven Force Prediction for Vacuum-Based Granular Grippers

Wacker,

Dierks,

Kwade

et al. 2024

Machines

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As manufacturing and assembly processes continue to require more adaptable systems for automated handling, innovative solutions for universal gripping are emerging. These grasping systems can enable the handling of wide varieties of shapes, with gripping forces varying with grasped geometries. For the efficient usage of handling systems, precise offline and online prediction models for resulting grasping forces for different objects are necessary. In previous research, a flexible vacuum-based granular gripper was developed, for which no option for predicting gripping forces is currently available. Various gripping force prediction methodologies within the current state of the art are examined and evaluated. For an assessment of grasping forces of previously untested objects for the examined gripper with limited data and low computational effort, two methodologies are proposed. An analytical, 2D-geometry-derived gripper-specific metric for geometries is compared to a methodology based on similarities of objects to a small existing dataset. The applicability and prediction quality for different object types is analyzed through validation experiments. Gripping force estimations are possible with both methodologies, with individual weaknesses towards geometric features such as air permeabilities. With further development, robust predictions of gripping forces could be achieved for a wide range of unknown object geometries with limited experimental effort.

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