THESIS
2022
1 online resource (xii, 54 pages) : illustrations (chiefly color)
Abstract
This thesis presents two novel robotic techniques respectively for picking and placing,
which are applicable to relatively thin objects that can be quite challenging for robots to
handle.
First, we propose a robotic picking technique, high-speed scooping, for rapidly picking
thin objects off from the hard surface by leveraging the compliant interaction between the
direct-drive gripper and environment. The technique is based on the scooping manipulation
to obtain a secure pinch grasp for relatively thin objects that are lying on a support
surface. We present the procedure of scooping manipulation featuring the stiffness control
framework for a two-fingered compliant gripper to pick up thin objects at high-speed.
An implementation of the proposed approach is also presented using our custo...[
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This thesis presents two novel robotic techniques respectively for picking and placing,
which are applicable to relatively thin objects that can be quite challenging for robots to
handle.
First, we propose a robotic picking technique, high-speed scooping, for rapidly picking
thin objects off from the hard surface by leveraging the compliant interaction between the
direct-drive gripper and environment. The technique is based on the scooping manipulation
to obtain a secure pinch grasp for relatively thin objects that are lying on a support
surface. We present the procedure of scooping manipulation featuring the stiffness control
framework for a two-fingered compliant gripper to pick up thin objects at high-speed.
An implementation of the proposed approach is also presented using our custom-built
two-fingered direct-drive gripper.
Second, we present a robotic technique for secure and precision placing, named as
dexterous ungrasping, which refers to the task of releasing a pinched object securely and
accurately to the target surface through dexterous manipulation, that is similar to how
Go player places a stone on the board with the index and middle fingers. A planning
framework is presented to compute a secure ungrasping motion using the contact interactions
between the gripper, object, and environment. Strategies of robustly executing the
planned ungrasping motion are also devised by analyzing the possible failure cases and
caging conditions.
Experiments in a range of scenarios demonstrate the effectiveness of both presented
techniques. The high success rate of both picking and placing operations obtained from
the experiment shows that our techniques are applicable to the problems in the industry
of manufacturing and assembly.
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