This letter introduces a new method for simultaneously singulating and picking objects from clutter. The can lead to effective robotic bin picking, which still remains elusive despite its importance in many industrial domestic applications, especially with thin profile. We leverage planar quasistatic pushing manipulation as way of standardized physical interaction between robot the object pick....

abstract   background: traumatic or congenital events can result in injury and functional deficiency in the hand and we need to reconstruct the fingers at times. studies are available in the pediatric and adult age groups to assess the length of the thumb. but to the best our knowledge no measurement of the relative clinical length of all fingers has been reported in the literature. we performe...

bilateral finger and palm prints of 500 males and 500 females of the caucasian origin in south iran have been collected and analyzed for both qualitative and quantitative dermatoglyhic features. results show that most of the qualitative features on bilateral and bisexual differences are not significant. however, quantitative features frequently showed significant differences both bilaterally an...

We introduce and evaluate contact-based techniques to estimate tactile properties and detect manipulation events using a biomimetic tactile sensor. In particular, we estimate finger forces, and detect and classify slip events. In addition, we present a grip force controller that uses the estimation results to gently pick up objects of various weights and texture. The estimation techniques and t...

Robotic bin-picking performance has been gaining attention in recent years with the development of increasingly advanced camera and machine vision systems, collaborative industrial robots, sophisticated robotic grippers. In random process, wide variety objects terms shape, weight, surface require complex solutions for to be reliably picked. The challenging part is determine object pick-points c...

An important challenge in robotics is to achieve robust performance in object grasping and manipulation, dealing with noise and uncertainty. This paper presents an approach for addressing the performance of dexterous grasping under shape uncertainty. In our approach, the uncertainty in object shape is parameterized and incorporated as a constraint into grasp planning. The proposed approach is u...

Traditionally, most of the nonlinear control techniques for elastic robotic systems focused on achieving a desired closed-loop behavior by modifying heavily intrinsic properties plant. This is also case tendon-driven systems, where highly couplings lead to several challenges. Following current philosophy exploiting mechanical compliance rather than fighting it, this letter proposes an Elastic S...

This paper addresses a principle of linear superposition for realizing dexterous motions of a pair of dual multiDOF robotic fingers with spherical rigid tips during manipulation of an object. Firstly, sensory feedback control algorithms to (1) realize specified contact forces between the finger-tips and object surfaces and (2) regulate a rotational angle of the object to a given set-point value...