research-article

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Computational design of passive grippers

Authors:

Milin Kodnongbua,

Jeffrey Lipton, and

Adriana SchulzAuthors Info & Claims

ACM Transactions on Graphics (TOG), Volume 41, Issue 4

Article No.: 149, Pages 2 - 12

https://doi.org/10.1145/3528223.3530162

Published: 22 July 2022 Publication History

Editorial Notes

The authors have requested minor, non-substantive changes to the Version of Record and, in accordance with ACM policies, a Corrected Version of Record was published on August 1, 2022. For reference purposes, the VoR may still be accessed via the Supplemental Material section on this page.

Abstract

This work proposes a novel generative design tool for passive grippers---robot end effectors that have no additional actuation and instead leverage the existing degrees of freedom in a robotic arm to perform grasping tasks. Passive grippers are used because they offer interesting trade-offs between cost and capabilities. However, existing designs are limited in the types of shapes that can be grasped. This work proposes to use rapid-manufacturing and design optimization to expand the space of shapes that can be passively grasped. Our novel generative design algorithm takes in an object and its positioning with respect to a robotic arm and generates a 3D printable passive gripper that can stably pick the object up. To achieve this, we address the key challenge of jointly optimizing the shape and the insert trajectory to ensure a passively stable grasp. We evaluate our method on a testing suite of 22 objects (23 experiments), all of which were evaluated with physical experiments to bridge the virtual-to-real gap. Code and data are at https://homes.cs.washington.edu/~milink/passive-gripper/

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Cited By

Pinskier JWang XLiow LXie YKumar PLangelaar MHoward D(2024)Diversity‐Based Topology Optimization of Soft Robotic GrippersAdvanced Intelligent Systems10.1002/aisy.2023005056:4Online publication date: 18-Jan-2024
https://doi.org/10.1002/aisy.202300505
Ottonello EBaggetta MBerselli GParmiggiani A(2023)Design and Validation of a Push-Latch Gripper Made in Additive ManufacturingIEEE/ASME Transactions on Mechatronics10.1109/TMECH.2023.327607328:4(2083-2091)Online publication date: Aug-2023
https://doi.org/10.1109/TMECH.2023.3276073
Ringwald JSchneider SChen LKnobbe DJohannsmeier LSwikir AHaddadin S(2023)Towards Task-Specific Modular Gripper Fingers: Automatic Production of Fingertip MechanicsIEEE Robotics and Automation Letters10.1109/LRA.2023.32417578:3(1866-1873)Online publication date: Mar-2023
https://doi.org/10.1109/LRA.2023.3241757
Show More Cited By

Index Terms

Computational design of passive grippers
1. Computing methodologies
  1. Computer graphics
    1. Shape modeling
      1. Shape analysis

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cover image ACM Transactions on Graphics

ACM Transactions on Graphics Volume 41, Issue 4

July 2022

1978 pages

ISSN:0730-0301

EISSN:1557-7368

DOI:10.1145/3528223

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Copyright © 2022 ACM.

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Publication History

Published: 22 July 2022

Published in TOG Volume 41, Issue 4

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Cited By

Pinskier JWang XLiow LXie YKumar PLangelaar MHoward D(2024)Diversity‐Based Topology Optimization of Soft Robotic GrippersAdvanced Intelligent Systems10.1002/aisy.2023005056:4Online publication date: 18-Jan-2024
https://doi.org/10.1002/aisy.202300505
Ottonello EBaggetta MBerselli GParmiggiani A(2023)Design and Validation of a Push-Latch Gripper Made in Additive ManufacturingIEEE/ASME Transactions on Mechatronics10.1109/TMECH.2023.327607328:4(2083-2091)Online publication date: Aug-2023
https://doi.org/10.1109/TMECH.2023.3276073
Ringwald JSchneider SChen LKnobbe DJohannsmeier LSwikir AHaddadin S(2023)Towards Task-Specific Modular Gripper Fingers: Automatic Production of Fingertip MechanicsIEEE Robotics and Automation Letters10.1109/LRA.2023.32417578:3(1866-1873)Online publication date: Mar-2023
https://doi.org/10.1109/LRA.2023.3241757
Zhao CJiang CCai JYu HWang MChen Q(2023)Learn to Grasp Via Intention Discovery and Its Application to Challenging ClutterIEEE Robotics and Automation Letters10.1109/LRA.2022.32284438:2(488-495)Online publication date: Feb-2023
https://doi.org/10.1109/LRA.2022.3228443
Jiang RDoshi NGondhalekar RRodriguez A(2023)Parallel-Jaw Gripper and Grasp Co-Optimization for Sets of Planar Objects2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)10.1109/IROS55552.2023.10342241(2455-2462)Online publication date: 1-Oct-2023
https://doi.org/10.1109/IROS55552.2023.10342241

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