We study the problem of grasping an unknown object with constant cross section using various “reactive” robot hands. In the simplest example, we equip a standard parallel-jaw gripper with several light-beam sensors (close to each jaw) and implement a reactive algorithm for grasping polygonal objects with this architecture. Extending these ideas further, we also devise two-and three-fingered reactive hands for objects with smooth boundary and equip these with distance and angle sensors that are located at the finger tips. The sensors used are simple and provide only limited and immediate information, but they allow us to reactively find a good grasp on an object of unknown geometry and dynamics. When grasped, the forces applied will be normal to the object boundary. Furthermore, in all cases, the object is not disturbed as the grasping points are being sought.
Get full access to this article
View all access options for this article.
References
1.
Akella, S. 1996. Robotic manipulation for parts transfer an orienting: Mechanics, planning an shape uncertainty. Robotics Inst. TR:CMU-RI-TR-96-38, Robotics Institute, Carnegie Mellon University, Pittsburgh .
2.
Akella, S., and Mason, M. T. 1998. Parts orienting with partial sensor information . IEEE International Conference on Robotics and Automation, Leuven, Belgium, May, pp. 557-564 .
3.
Ashley, S. 1990. A mosaic for machine tools. Mechanical Engineering, September, pp. 38-43.
4.
Bonen, A., Smith, K. C., and Benhabib, B. 1993. Development of a robust electro-optical proximity sensor . IEEE/RSJ International Conference on Intelligent Robots and Systems, Yokohama, Japan, July, pp. 989-990 .
5.
Canny, J., and Goldberg, K. 1994. 'RISC 'for industrial robotics: Recent results and open problems . Proceedings of the IEEE International Conference on Robotics and Automation, San Diego, pp. 1951-1958 .
6.
Cole, R., and Yap, C. K. 1987. Shape from probing . J. Algorithms8(l): 19-38 .
7.
Dobkin, D. P., Edelsbrunner, H., and Yap, C. K. 1986. Probing convex polytopes . Proc. 18th Annu. ACM Sympos. Theory Comput.., Berkeley, CA, pp. 424-432 .
8.
Erdmann, M. 1994. Understanding action an sensing by designing action-base sensors . IEEE International Conference on Robotics and Automation, Workshop on Design of Parts an Devices for Automation, San Diego, May.
9.
Goldberg, K. Y. 1991. Stochastic Plans for Robotic Manipulation, Ph.D. thesis, School of Computer Science, Carnegie Mellon University, Pittsburgh.
10.
Goldberg, K. Y. 1993. Orienting polyogonal parts without sensors . Algorithmica10(2): 201-225 .
11.
Goldberg, K. Y., and Furst, M. L. 1993 (February). Low friction gripper, a design modification for the parallel-jaw gripper that improves grasp stability for polyhedral parts. U.S. Patent Number 5,186,515.
12.
Jennings, J. 1992. Model acquisition for near-sensorless manipulation using mobile robots. Invited talk, December.
13.
Klee V. 1986. Facet centroids an volume minimization. In Fej es T' oth Festschrift.
14.
Latombe, J.-C. 1995. Robot algorithms. In Algorithmic Foundations of Robotics, ed. K. Goldberg, D. Halperin, J.-C. Latombe, and R. Willson, 1-18. Wellesley, MA: A. K. Peters .
15.
Mirtich, B., and Canny, J. 1994. Easily computable optimum grasps in 2-d an 3-d . IEEE International Conference on Robotics and Automation, San Diego, May, pp. 739-747 .
16.
Mishra, B., Schwartz, J. T., and Sharir, M. 1987. On the existence an synthesis of multifinger positive grips . Algorithmica2(4): 541-558 .
17.
Murphy, T. G., Lyons, D. M., and Hendriks, A. J. 1993. Stable grasping with a multi-fingered robot hand: A behavior-based approach . IEEE/RSJ International Conference on Intelligent Robots and Systems, Yokohama, Japan, July, pp. 867-874 .
18.
Okada. T. 1982. Development of an optical distance sensor for robots . International Journal of Robotics Research1 (4): 3-14 .
19.
O'Rourke, J., Aggarwal, A., Maddila, S., and Baldwin, M. 1986. An optimal algorithm for finding minimal enclosing triangles . J. Algorithms7: 258-269 .
20.
Ponce, J., Sullivan, S., Sudsang, A., Boissonnat, J.-D., and Merlet, J.-P. 1993. On characterizing and computing three an four finger closure grasps of polyhedral objects . Proceedings of the IEEE International Conference on Robotics and Automation, Atlanta, GA, May, pp. 821-827 .
21.
Rao, A., and Goldberg, K. 1992 (August). Grasping curve planar parts with a parallel jaw gripper. Technical Report 299, IRIS.
22.
Rao, A. S. 1993. Algorithmic Plans for Robotic Manipulation. Ph.D. thesis, University of Southern California, Los Angeles.
23.
Rao, A. S., and Goldberg, K. Y. 1994. Shape from diameter: Recognizing polygonal parts with a parallel-jaw gripper . IRob13(1): 16-37 .
24.
Teichmann, M. 1995. Grasping and Fixturing: A Geometric Study and an Implementation. Ph.D. thesis, New York University, New York.
25.
Teichmann, M., and Mishra, B. 1994a. Reactive algorithms for grasping using a modified parallel jaw gripper . Proceedings of the 1994 IEEE International Conference on Robotics and Automation, ICRA 94, San Diego, pp. 1931-1936 .
26.
Teichmann, M., and Mishra, B. 1994b. Reactive algorithms for 2 an 3 finger grasping . IEEE/RSJ International Workshop on Intelligent Robots and Systems, Grenoble, France.
27.
Teichmann, M., and Mishra, B. 1996 (July). Reactive robotic gripper. U.S. patent #5,541,485 awarded to New York University, New York.
28.
Toussaint, G. T. 1983. Solving geometric problems with the rotating calipers . Proc. IEEE MELECON '83, Athens, Greece, pp. A 10.02/1-4-A 10.02/1-4 .
29.
Wiener, N. 1965. Cybernetics or Control and Communication in the Animal. Cambridge, MA: MIT Press .
