Robotic Grasping and Manipulation

Description

This book constitutes the refereed proceedings of the First Robotic Grasping and Manipulation Challenge, RGMC 2016, held at IROS 2016, Daejeon, South Korea, in October 2016.The 13 revised full papers presented were carefully reviewed and are describing the rules, results, competitor systems and future directions of the inaugural competition. The competition was designed to allow researchers focused on the application of robot systems to compare the performance of hand designs as well as autonomous grasping and manipulation solutions across a common set of tasks. The competition was comprised of three tracks that included hand-in-hand grasping, fully autonomous grasping, and simulation. Front Matter ....Pages I-VIII Robotic Grasping and Manipulation Competition: Task Pool (Yu Sun, Joe Falco, Nadia Cheng, Hyouk Ryeol Choi, Erik D. Engeberg, Nancy Pollard et al.)....Pages 1-18 Advanced Grasping with the Pisa/IIT SoftHand (Manuel Bonilla, Cosimo Della Santina, Alessio Rocchi, Emanuele Luberto, Gaspare Santaera, Edoardo Farnioli et al.)....Pages 19-38 Design of Modular Humanoid Robotic Hand Driven by SMA Actuator (Yang Chen, Shaofei Guo, Hui Yang, Lina Hao)....Pages 39-56 The TU Hand: Using Compliant Connections to Modulate Grasping Behavior (Dipayan Das, Nathanael J. Rake, Joshua A. Schultz)....Pages 57-83 Design and Application of Dorabot-hand2 System (Zhikang Wang, Shuo Liu, Hao Zhang)....Pages 84-106 Manipulation Using the “Utah” Prosthetic Hand: The Role of Stiffness in Manipulation (Radhen Patel, Jacob Segil, Nikolaus Correll)....Pages 107-116 SKKU Hand Arm System: Hardware and Control Scheme (Dongmin Choi, Byung-jin Jung, Hyungpil Moon)....Pages 117-135 A Robotic System for Autonomous Grasping and Manipulation (Mingu Kwon, Dandan Zhou, Shuo Liu, Hao Zhang)....Pages 136-145 Improving Grasp Performance Using In-Hand Proximity and Contact Sensing (Radhen Patel, Rebeca Curtis, Branden Romero, Nikolaus Correll)....Pages 146-160 Robotic Grasping and Manipulation Competition @IROS2016: Team Tsinghua (Fuchun Sun, Huaping Liu, Bin Fang, Di Guo, Tao Kong, Chao Yang et al.)....Pages 161-171 Complete Robotic Systems for the IROS Grasping and Manipulation Challenge (Eadom Dessalene, Daniel Lofaro)....Pages 172-179 Robotic Grasping and Manipulation Competition: Competitor Feedback and Lessons Learned (Joe Falco, Yu Sun, Maximo Roa)....Pages 180-189 Robotic Grasping and Manipulation Competition: Future Tasks to Support the Development of Assembly Robotics (Karl Van Wyk, Joe Falco, Elena Messina)....Pages 190-200 Back Matter ....Pages 201-201