Start Date
7-5-2024 3:45 PM
End Date
7-5-2024 2:45 PM
Document Type
Full Paper
Keywords
manipulator, fragile object grasping, force sensor, low-cost
Description
Grasping objects represents a fundamental skill for autonomous robotic manipulators and has been the subject of extensive study. Recent advancements have highlighted the efficacy of utilizing visual inputs to identify full 6-Degree-of-Freedom (6-DoF) grasp poses for picking up rigid objects. However, the robust grasping of fragile objects remains a challenge, as visual-only inputs lack the capability to measure the applied grasping force accurately. Fragile objects are particularly susceptible to damage from excessive forces exerted by the manipulator. In this paper, we address this issue by integrating a low-cost force sensor onto the gripper of a manipulator, making it contact-force-aware during object picking. The manipulator simultaneously closes its grippers for grasping and monitors the contact force readings for preventing damage. We implement and evaluate the system’s performance in grasping a variety of fragile objects, demonstrating that our approach successfully completes the task while remaining cost-effective.
DOI
https://doi.org/10.5038/XSFL1318
Robust Fragile Object Picking By Integrating A Robotic Manipulator With Low-Cost Force Sensors
Grasping objects represents a fundamental skill for autonomous robotic manipulators and has been the subject of extensive study. Recent advancements have highlighted the efficacy of utilizing visual inputs to identify full 6-Degree-of-Freedom (6-DoF) grasp poses for picking up rigid objects. However, the robust grasping of fragile objects remains a challenge, as visual-only inputs lack the capability to measure the applied grasping force accurately. Fragile objects are particularly susceptible to damage from excessive forces exerted by the manipulator. In this paper, we address this issue by integrating a low-cost force sensor onto the gripper of a manipulator, making it contact-force-aware during object picking. The manipulator simultaneously closes its grippers for grasping and monitors the contact force readings for preventing damage. We implement and evaluate the system’s performance in grasping a variety of fragile objects, demonstrating that our approach successfully completes the task while remaining cost-effective.