Shell-Type Soft Jig for Holding Objects during Disassembly
This study addresses a flexible holding tool for robotic disassembly. We propose a shell-type soft jig that securely and universally holds objects, mitigating the risk of component damage and adapting to diverse shapes while enabling soft fixation that is robust to recognition, planning, and control errors. The balloon-based holding mechanism ensures proper alignment and stable holding performance, thereby reducing the need for dedicated jig design, highly accurate perception, precise grasping, and finely tuned trajectory planning that are typically required with conventional fixtures. Our experimental results demonstrate the practical feasibility of the proposed jig through performance comparisons with a vise and a jamming-gripper-inspired soft jig. Tests on ten different objects further showed representative successes and failures, clarifying the jig's limitations and outlook.
Code (0)
등록된 구현이 없습니다.
Tasks
Trajectory PlanningSimilar Papers 제목 키워드 기반
Structural Design Using Laplacian Shells
We introduce a method to design lightweight shell objects that are structurally robust under the external forces they may experience during use. Given an input 3D model and a general description of the external forces, o…
Soft robotic shell with active thermal display
Almost all robotic systems in use have hard shells, which is limiting in many ways their full potential of physical interaction with humans or their surrounding environment. Robots with soft-shell covers offer an alterna…
Cost-Sensitive Uncertainty-Based Failure Recognition for Object Detection
Object detectors in real-world applications often fail to detect objects due to varying factors such as weather conditions and noisy input. Therefore, a process that mitigates false detections is crucial for both safety …
Autonomous DrivingObjectobject-detectionObject DetectionSoftVTBench: A Safety-Aware Visuo-Tactile Benchmark for Physically Constrained Robotic Manipulation of Deformable Objects (Early Version)
Deformable object manipulation poses challenges beyond task completion: successful execution must also maintain safe physical interaction, holding the object stably without slip or drop while avoiding excessive deformati…
As-Rigid-As-Possible Volumetric Shape-From-Template
The objective of Shape-from-Template (SfT) is to infer an object's shape from a single image and a 3D object tem- plate. Existing methods are called thin-shell SfT as they represent the object by its outer surface. This …
Object