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Proceedings Paper

A reusable robotic grasping creator
Author(s): Ying Li; Justin Keesling; Chalongrath Pholsiri; Neil Tardella; James English
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Paper Abstract

To make robotic grasping accessible to all roboticists, Energid Technologies is developing a Graphical User Interface (GUI) tool and algorithms embodied in a reusable software toolkit to quickly and easily create grasps. The method is generic and works with all types of robotic hands, manipulators, and mobile platforms. Vision, position control, force control, and collision avoidance algorithms are integrated naturally into the process, and successful grasp parameters are stored in a database for later real-time application. This article describes how the grasps are created in the Energid system using convenient human interfaces, novel ways to constrain the robotic hand, and real-time simulation of the grasping process. Special emphasis is given to the integration of force control with the grasp scripting process. The force control system accommodates a variety of established algorithms and allows new user-defined algorithms, which can apply to many types of force/torque sensors. Special emphasis is also given to vision-based tracking, with the vision system providing object identification and automatic selection of an appropriate grasp from the database. The vision system also provides 3D tracking to guide the grasp process. Simulation and hardware study results are presented based on the Schunk SDH hand and LWA arm.

Paper Details

Date Published: 7 May 2010
PDF: 11 pages
Proc. SPIE 7692, Unmanned Systems Technology XII, 76921N (7 May 2010); doi: 10.1117/12.850921
Show Author Affiliations
Ying Li, Energid Technologies Corp. (United States)
Justin Keesling, Energid Technologies Corp. (United States)
Chalongrath Pholsiri, Energid Technologies Corp. (United States)
Neil Tardella, Energid Technologies Corp. (United States)
James English, Energid Technologies Corp. (United States)


Published in SPIE Proceedings Vol. 7692:
Unmanned Systems Technology XII
Grant R. Gerhart; Douglas W. Gage; Charles M. Shoemaker, Editor(s)

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