Robot tongues in space: continuum surfaces for robotic grasping and manipulation

Caleb Cohen; Brandon Hiott; Apoorva D. Kapadia; Ian D. Walker

doi:10.1117/12.2222571

25 May 2016 Robot tongues in space: continuum surfaces for robotic grasping and manipulation

Caleb Cohen, Brandon Hiott, Apoorva D. Kapadia, Ian D. Walker

Proceedings Volume 9836, Micro- and Nanotechnology Sensors, Systems, and Applications VIII; 98362B (2016) https://doi.org/10.1117/12.2222571
Event: SPIE Defense + Security, 2016, Baltimore, MD, United States

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.

Citation Download Citation

Caleb Cohen, Brandon Hiott, Apoorva D. Kapadia, and Ian D. Walker "Robot tongues in space: continuum surfaces for robotic grasping and manipulation", Proc. SPIE 9836, Micro- and Nanotechnology Sensors, Systems, and Applications VIII, 98362B (25 May 2016); https://doi.org/10.1117/12.2222571

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