A Manipulator with a Depth Sensor and an Underactuated and Tactile Gripper for Identifying and Grasping Objects of Various Shapes and Sizes

10.6567/IFToMM.14TH.WC.OS13.108

Li-Yen Huang；Yu-Chen Lin；Yan-Chen Liu；Jui-Yiao Su；Pei-Chun Lin

Underactuated ； Gripper ； Tactile ； RGB-D camera ； Shape identification ； Force control

Proceedings of the 14th IFToMM World Congress

14th-4（2015 / 11 / 04）

299 - 306

英文

We report on a methodology for identifying and grasping objects of various basic shapes in pick-and-place tasks with a manipulator containing a gripper. The gripper is designed to be underactuated and changeable in configuration (two-finger mode and three-finger mode) to increase its intrinsic adaptation to objects of various shapes. The tactile sensing system, composed of a pressure sensor array, a force-sensitive resistor, a potentiometer, and an accelerometer, is mounted on the gripper to provide in situ contact information for object shape identification and grasp. In addition, a depth sensor is utilized not only to identify the position and orientation of the objects to be picked up, but also to incorporate the tactile sensing system that identifies object shapes. The methodology is implemented and experimentally evaluated. The performance of the system is also compared to that of the system with only the depth sensor or with only the tactile sensing system. These tests confirm the merit of integrating sensory data from the pick-and-place tasks with the function of identifying object shape.