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Proceedings Paper

Robot tongues in space: continuum surfaces for robotic grasping and manipulation
Author(s): Caleb Cohen; Brandon Hiott; Apoorva D. Kapadia; Ian D. Walker
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Paper Abstract

In this paper, we introduce a novel, continuously bending “robot tongue.” The tongue replaces the existing parallel jaw gripper at the end of a KUKA industrial robot manipulator. The resulting system augments the precise positioning of the KUKA with unique capabilities for adaptive grasping afforded by the new robot tongue. We demonstrate the ability of the system to grasp and manipulate objects over a wide range of scales and geometries and evaluate the potential for use of such tongues in various applications.

Paper Details

Date Published: 25 May 2016
PDF: 12 pages
Proc. SPIE 9836, Micro- and Nanotechnology Sensors, Systems, and Applications VIII, 98362B (25 May 2016); doi: 10.1117/12.2222571
Show Author Affiliations
Caleb Cohen, Clemson Univ. (United States)
Brandon Hiott, Clemson Univ. (United States)
Apoorva D. Kapadia, Clemson Univ. (United States)
Ian D. Walker, Clemson Univ. (United States)


Published in SPIE Proceedings Vol. 9836:
Micro- and Nanotechnology Sensors, Systems, and Applications VIII
Thomas George; Achyut K. Dutta; M. Saif Islam, Editor(s)

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