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 proceedingConference contributionAcademicpeer-review

13 Citations (Scopus)
154 Downloads (Pure)

Abstract

In order to handle complex tasks in hard-toreach 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 languageEnglish
Title of host publicationProceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics
EditorsS. Krukreja
Place of PublicationSingapore
PublisherIEEE Computer Society
Pages299-304
ISBN (Print)978-150903287-7
DOIs
Publication statusPublished - 26 Jun 2016
Event6th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics 2016 - University Town, Singapore, Singapore, Singapore
Duration: 26 Jun 201629 Jun 2016
Conference number: 6
http://www.ieee-ras.org/component/rseventspro/event/721-biorob-2016-ieee-international-conference-on-biomedical-robotics-and-biomechatronics

Publication series

NameJuly
PublisherIEEE Computer Society
Volume2016
ISSN (Print)2155-1774
ISSN (Electronic)2155-1782

Conference

Conference6th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics 2016
Abbreviated titleBioRob 2016
CountrySingapore
CitySingapore
Period26/06/1629/06/16
Internet address

Fingerprint

payloads
remote control
materials science
robotics
robots
positioning
manipulators
gradients
nanoparticles
requirements
fabrication
composite materials
configurations
magnetic fields
temperature

Keywords

  • METIS-317112
  • IR-100569

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 S. Krukreja (Ed.), Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics (pp. 299-304). (July; Vol. 2016). Singapore: IEEE Computer Society. https://doi.org/10.1109/BIOROB.2016.7523642
Ongaro, Federico ; Yoon, ChangKyu ; van den Brink, Frank ; Abayazid, Momen ; Oh, Seung Hyun ; Gracias, David H. ; Misra, Sarthak. / Control of untethered soft grippers for pick-and-place tasks. Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics. editor / S. Krukreja. Singapore : IEEE Computer Society, 2016. pp. 299-304 (July).
@inproceedings{c7ddb8a0bf174aac83f4f3a0755896f5,
title = "Control of untethered soft grippers for pick-and-place tasks",
abstract = "In order to handle complex tasks in hard-toreach 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",
keywords = "METIS-317112, IR-100569",
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",
year = "2016",
month = "6",
day = "26",
doi = "10.1109/BIOROB.2016.7523642",
language = "English",
isbn = "978-150903287-7",
series = "July",
publisher = "IEEE Computer Society",
pages = "299--304",
editor = "S. Krukreja",
booktitle = "Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics",
address = "United States",

}

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 S Krukreja (ed.), Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics. July, vol. 2016, IEEE Computer Society, Singapore, pp. 299-304, 6th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics 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; Abayazid, Momen; Oh, Seung Hyun; Gracias, David H.; Misra, Sarthak.

Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics. ed. / S. Krukreja. Singapore : IEEE Computer Society, 2016. p. 299-304 (July; Vol. 2016).

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-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 - 2016/6/26

Y1 - 2016/6/26

N2 - In order to handle complex tasks in hard-toreach 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-toreach 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

KW - METIS-317112

KW - IR-100569

U2 - 10.1109/BIOROB.2016.7523642

DO - 10.1109/BIOROB.2016.7523642

M3 - Conference contribution

SN - 978-150903287-7

T3 - July

SP - 299

EP - 304

BT - Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics

A2 - Krukreja, S.

PB - IEEE Computer Society

CY - Singapore

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 Krukreja S, editor, Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics. Singapore: IEEE Computer Society. 2016. p. 299-304. (July). https://doi.org/10.1109/BIOROB.2016.7523642