THESIS
2020
xii, 51 pages : illustrations ; 30 cm
Abstract
This thesis presents methods and designs for dexterous robotic insertion and placement,
particularly suitable for objects with a thin form-factor. Firstly, we devise a novel manipulation
technique suitable for shallow-depth insertion, which refers to the assembly of a
relatively thin peg-like object into a hole with a shallow depth, as can be seen in the task of battery
insertion for example. The technique features dexterous manipulation actions that combine
into a complete insertion operation, as also commonly demonstrated by humans performing the
battery insertion task. Secondly, we present minimalist and additive end-effector design features
that can advance the shallow-depth insertion technique. Simple designs in the form of
a mobile palm and asymmetric finger lengths effect...[
Read more ]
This thesis presents methods and designs for dexterous robotic insertion and placement,
particularly suitable for objects with a thin form-factor. Firstly, we devise a novel manipulation
technique suitable for shallow-depth insertion, which refers to the assembly of a
relatively thin peg-like object into a hole with a shallow depth, as can be seen in the task of battery
insertion for example. The technique features dexterous manipulation actions that combine
into a complete insertion operation, as also commonly demonstrated by humans performing the
battery insertion task. Secondly, we present minimalist and additive end-effector design features
that can advance the shallow-depth insertion technique. Simple designs in the form of
a mobile palm and asymmetric finger lengths effectively immobilizes the part throughout the
manipulation process and reduces lead times. Finally, we discuss how the gripper design features
can help generalize the insertion technique to the task of placement, such as the scenario
of placing a book on the table. The stability of the insertion and placement techniques is shown
by constructing the space of form/force-closure grasps and manipulation primitives to navigate
the space by changing the grasps. Our methods and designs are directly applicable to a simple
hardware setting with the conventional parallel-jaw gripper installed on an industrial robot
arm. The practicality of the novel techniques and designs are demonstrated by implementing
challenge tasks of insertion and placement with a real robotic system.
Post a Comment