Grasping and Fixturing with Customized Effectors

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Presentation transcript:

Grasping and Fixturing with Customized Effectors Jun Seo, Mark Yim, and Vijay Kumar GRASP Laboratory and Dept. of Mechanical Engineering and Applied Mechanics University of Pennsylvania 1

PPR Review @ MIT on Dec 9th, 2013 How to grasp/cage an object with the three types of effectors? cylindrical effector object planar effector spherical effector

PPR Review @ MIT on Dec 9th, 2013 Two effectors at a vertex-vertex antipodal pair a vertex-face antipodal pair an edge-edge antipodal pair The collection of three immobilizing grasps that is complete. Whole-Arm Grasping by a modular manipulator 4×2 arm 3×3 arm 2×4 arm End-effectors All contacts are assumed to be frictionless, rigid, and unilateral.

Major Departure: More Generalized Theory To a wider range of effectors: effectors with a surface represented as an energy-like function cylindrical effector planar effector spherical effector From the three particular effectors analytical method for synthesizing grasps To a wider range of effectors: empirical method for synthesizing cages ring effector Apply off-the-shelf motion planning algorithms to test if the object is caged …and cages

Major Departure: More Complete Implementation Autonomous planning/control by ROS/MoveIt! (software/tutorial available at http://www.seas.upenn.edu/~juse) Autonomous perception with a monocular camera (collaborating with Prof. Daniilidis’s group at Penn)