Control of untethered soft grippers for pick-And-place tasks

Federico Ongaro; Changkyu Yoon; Frank Van Den Brink; Momen Abayazid; Seung Hyun Oh; David H. Gracias; Sarthak Misra

doi:10.1109/BIOROB.2016.7523642

Control of untethered soft grippers for pick-And-place tasks

Federico Ongaro
, Changkyu Yoon
, Frank Van Den Brink
, Momen Abayazid
, Seung Hyun Oh
, David H. Gracias
, Sarthak Misra

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

29 Scopus citations

Abstract

In order to handle complex tasks in hard-To-reach environments, small-scale robots have to possess suitable dexterous and untethered control capabilities. The fabrication and manipulation of soft, small-scale grippers complying to these requirements is now made possible by advances in material science and robotics. In this paper, we use soft, small-scale grippers to demonstrate pick-And-place tasks. The precise remote control is obtained by altering both the magnetic field gradient and the temperature in the workspace. This allows us to regulate the position and grasping configuration of the soft thermally-responsive hydrogel-nanoparticle composite magnetic grippers. The magnetic closed-loop control achieves precise localization with an average region-of-convergence of the gripper of 0.12±0.05 mm. The micro-sized payload can be placed with a positioning error of 0.57±0.33 mm. The soft grippers move with an average velocity of 0.72±0.13 mm/s without a micro-sized payload, and at 1.09±0.07 mm/s with a micro-sized payload.

Original language	English
Title of host publication	2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics, BioRob 2016
Publisher	IEEE Computer Society
Pages	299-304
Number of pages	6
ISBN (Electronic)	9781509032877
DOIs	https://doi.org/10.1109/BIOROB.2016.7523642
State	Published - 26 Jul 2016
Externally published	Yes
Event	6th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2016 - Singapore, Singapore Duration: 26 Jun 2016 → 29 Jun 2016

Publication series

Name	Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics
Volume	2016-July
ISSN (Print)	2155-1774

Conference

Conference	6th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2016
Country/Territory	Singapore
City	Singapore
Period	26/06/16 → 29/06/16

Bibliographical note

Publisher Copyright:
© 2016 IEEE.

ASJC Scopus subject areas

Artificial Intelligence
Biomedical Engineering
Mechanical Engineering

Access to Document

10.1109/BIOROB.2016.7523642

Cite this

Ongaro, F., Yoon, C., Van Den Brink, F., Abayazid, M., Oh, S. H., Gracias, D. H., & Misra, S. (2016). Control of untethered soft grippers for pick-And-place tasks. In 2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics, BioRob 2016 (pp. 299-304). Article 7523642 (Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics; Vol. 2016-July). IEEE Computer Society. https://doi.org/10.1109/BIOROB.2016.7523642

Ongaro, Federico ; Yoon, Changkyu ; Van Den Brink, Frank et al. / Control of untethered soft grippers for pick-And-place tasks. 2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics, BioRob 2016. IEEE Computer Society, 2016. pp. 299-304 (Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics).

@inproceedings{1579065436c24093b2b752651af00b14,

title = "Control of untethered soft grippers for pick-And-place tasks",

abstract = "In order to handle complex tasks in hard-To-reach environments, small-scale robots have to possess suitable dexterous and untethered control capabilities. The fabrication and manipulation of soft, small-scale grippers complying to these requirements is now made possible by advances in material science and robotics. In this paper, we use soft, small-scale grippers to demonstrate pick-And-place tasks. The precise remote control is obtained by altering both the magnetic field gradient and the temperature in the workspace. This allows us to regulate the position and grasping configuration of the soft thermally-responsive hydrogel-nanoparticle composite magnetic grippers. The magnetic closed-loop control achieves precise localization with an average region-of-convergence of the gripper of 0.12±0.05 mm. The micro-sized payload can be placed with a positioning error of 0.57±0.33 mm. The soft grippers move with an average velocity of 0.72±0.13 mm/s without a micro-sized payload, and at 1.09±0.07 mm/s with a micro-sized payload.",

author = "Federico Ongaro and Changkyu Yoon and \{Van Den Brink\}, Frank and Momen Abayazid and Oh, \{Seung Hyun\} and Gracias, \{David H.\} and Sarthak Misra",

note = "Publisher Copyright: {\textcopyright} 2016 IEEE.; 6th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2016 ; Conference date: 26-06-2016 Through 29-06-2016",

year = "2016",

month = jul,

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doi = "10.1109/BIOROB.2016.7523642",

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series = "Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics",

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Ongaro, F, Yoon, C, Van Den Brink, F, Abayazid, M, Oh, SH, Gracias, DH & Misra, S 2016, Control of untethered soft grippers for pick-And-place tasks. in 2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics, BioRob 2016., 7523642, Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, vol. 2016-July, IEEE Computer Society, pp. 299-304, 6th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2016, Singapore, Singapore, 26/06/16. https://doi.org/10.1109/BIOROB.2016.7523642

Control of untethered soft grippers for pick-And-place tasks. / Ongaro, Federico; Yoon, Changkyu; Van Den Brink, Frank et al.
2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics, BioRob 2016. IEEE Computer Society, 2016. p. 299-304 7523642 (Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics; Vol. 2016-July).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Control of untethered soft grippers for pick-And-place tasks

AU - Ongaro, Federico

AU - Yoon, Changkyu

AU - Van Den Brink, Frank

AU - Abayazid, Momen

AU - Oh, Seung Hyun

AU - Gracias, David H.

AU - Misra, Sarthak

PY - 2016/7/26

Y1 - 2016/7/26

N2 - In order to handle complex tasks in hard-To-reach environments, small-scale robots have to possess suitable dexterous and untethered control capabilities. The fabrication and manipulation of soft, small-scale grippers complying to these requirements is now made possible by advances in material science and robotics. In this paper, we use soft, small-scale grippers to demonstrate pick-And-place tasks. The precise remote control is obtained by altering both the magnetic field gradient and the temperature in the workspace. This allows us to regulate the position and grasping configuration of the soft thermally-responsive hydrogel-nanoparticle composite magnetic grippers. The magnetic closed-loop control achieves precise localization with an average region-of-convergence of the gripper of 0.12±0.05 mm. The micro-sized payload can be placed with a positioning error of 0.57±0.33 mm. The soft grippers move with an average velocity of 0.72±0.13 mm/s without a micro-sized payload, and at 1.09±0.07 mm/s with a micro-sized payload.

AB - In order to handle complex tasks in hard-To-reach environments, small-scale robots have to possess suitable dexterous and untethered control capabilities. The fabrication and manipulation of soft, small-scale grippers complying to these requirements is now made possible by advances in material science and robotics. In this paper, we use soft, small-scale grippers to demonstrate pick-And-place tasks. The precise remote control is obtained by altering both the magnetic field gradient and the temperature in the workspace. This allows us to regulate the position and grasping configuration of the soft thermally-responsive hydrogel-nanoparticle composite magnetic grippers. The magnetic closed-loop control achieves precise localization with an average region-of-convergence of the gripper of 0.12±0.05 mm. The micro-sized payload can be placed with a positioning error of 0.57±0.33 mm. The soft grippers move with an average velocity of 0.72±0.13 mm/s without a micro-sized payload, and at 1.09±0.07 mm/s with a micro-sized payload.

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BT - 2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics, BioRob 2016

PB - IEEE Computer Society

T2 - 6th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2016

Y2 - 26 June 2016 through 29 June 2016

ER -

Ongaro F, Yoon C, Van Den Brink F, Abayazid M, Oh SH, Gracias DH et al. Control of untethered soft grippers for pick-And-place tasks. In 2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics, BioRob 2016. IEEE Computer Society. 2016. p. 299-304. 7523642. (Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics). doi: 10.1109/BIOROB.2016.7523642

Control of untethered soft grippers for pick-And-place tasks

Abstract

Publication series

Conference

Bibliographical note

ASJC Scopus subject areas

Access to Document

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Cite this