Carrying out an autonomous object prehension task, needs some active interaction with the environment, which only could be done with sensory integration on the robot tools. A study of the contact force control performed with tactile feedback in a low cost servo-controlled parallel jaw gripper is presented in this article. This gripper integrates matricial tactile sensors and proximity sensors. ...

Handling of objects with irregular shapes and that of flexible/soft objects by ordinary robot grippers is difficult. Multi fingered gripper may be a solution to such handling tasks. However, dexterous grippers will be the appropriate solution to such problems. Although it is possible to develop robotic hands which can be very closely mapped to human hands, it is sometimes not to be done due to ...

A curvilinear robot constructed from a number of modular flexible sections of fixed length and diameter but independently controlled radius and direction of curvature has been equipped with an optical fibre image guide transmitting images from between the gripper jaws to the remote TV camera of Microvision-100, a microcomputer controlled real-time DMA-based vision system that is easily trained ...

We present a system for learning the 3 DOF finepositioning task of a robot manipulator (Puma 260) using a gripper mounted camera. Small lateral gripper-target misalignments are corrected in one step. Larger ones employ a previous coarse adjustment move in order to bound the parallax effects of the close camera focus. We build objectspecialized, neural network-based pose estimators with a rather...

A surface walking/climbing robot is developed based on a simple planar 8-bar locomotion mechanism using four 2-way linear cylinders and four 2-way gripper modules. The robot may traverse a fixed distance or turn at a fixed angle after completing a series of repetitive cylinder and gripper actions termed gaits. Symmetric arrangement of the actuators decouples the translation and rotation of the ...

This paper discusses two processes for rapidly prototyping micromechanical systems: first microassembly, and second, laser cutting of thin sheets and folding. Sub-millimeter rigid blocks can be dextrously manipulated using two 1 DOF fingers and an XYZ micro-positioning stage. Algorithms for micro-part manipulation use open-loop compliant grasps combined with slip to align microparts, which can ...

The lifetime of soft robots is limited by their susceptibility to damage. Recent breakthroughs in healable have overcome this issue manufacturing systems from self-healing polymers. However, operate and recover autonomously, compatible sensors need be embedded. We show that innovative measure strain, force, damage, based on a conductive elastomeric composite, were developed integrated with near...