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

Faculty of Engineering Technology

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

27 Citations (Scopus)

334 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 language	English
Title of host publication	Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics
Editors	S. Krukreja
Place of Publication	Singapore
Publisher	IEEE
Pages	299-304
ISBN (Print)	978-150903287-7
DOIs	https://doi.org/10.1109/BIOROB.2016.7523642
Publication status	Published - 26 Jun 2016
Event	6th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2016 - University Town, Singapore, Singapore, Singapore Duration: 26 Jun 2016 → 29 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

Name	July
Publisher	IEEE Computer Society
Volume	2016
ISSN (Print)	2155-1774
ISSN (Electronic)	2155-1782

Conference

Conference	6th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2016
Abbreviated title	BioRob 2016
Country/Territory	Singapore
City	Singapore
Period	26/06/16 → 29/06/16
Internet address	http://www.ieee-ras.org/component/rseventspro/event/721-biorob-2016-ieee-international-conference-on-biomedical-robotics-and-biomechatronics

Keywords

METIS-317112
IR-100569

Access to Document

10.1109/BIOROB.2016.7523642

BioRobSoftGrippers

Best Poster Award BioRob 2016
Ongaro, F. (Recipient), Yoon, C. (Recipient), van den Brink, F. (Recipient), Abayazid, M. (Recipient), Oh, S. H. (Recipient), Gracias, D. H. (Recipient) & Misra, S. (Recipient), 29 Jun 2016
Prize

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). IEEE. https://doi.org/10.1109/BIOROB.2016.7523642

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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 = jun,

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doi = "10.1109/BIOROB.2016.7523642",

language = "English",

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

address = "United States",

note = "6th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2016, BioRob 2016 ; Conference date: 26-06-2016 Through 29-06-2016",

url = "http://www.ieee-ras.org/component/rseventspro/event/721-biorob-2016-ieee-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 S Krukreja (ed.), Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics. July, vol. 2016, IEEE, Singapore, 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.
Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics. ed. / S. Krukreja. Singapore: IEEE, 2016. p. 299-304 (July; Vol. 2016).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › 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

N1 - Conference code: 6

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

CY - Singapore

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

Y2 - 26 June 2016 through 29 June 2016

ER -

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

Abstract

Publication series

Conference

Keywords

Access to Document

Fingerprint

Prizes

Best Poster Award BioRob 2016

Cite this