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dc.contributor.authorBorràs Sol, Júlia
dc.contributor.authorHeudorfer, Raphael
dc.contributor.authorRader, Samuel
dc.contributor.authorAsfour, Tamim
dc.contributor.otherInstitut de Robòtica i Informàtica Industrial
dc.date.accessioned2019-03-01T13:15:50Z
dc.date.available2019-03-01T13:15:50Z
dc.date.issued2018
dc.identifier.citationBorras, J. [et al.]. The KIT swiss knife gripper for disassembly tasks: a multi-functional gripper for bimanual manipulation with a single arm. A: IEEE/RSJ International Conference on Intelligent Robots and Systems. "2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)". Institute of Electrical and Electronics Engineers (IEEE), 2018, p. 4590-4597.
dc.identifier.urihttp://hdl.handle.net/2117/129997
dc.description© 20xx IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
dc.description.abstractThis work presents the concept of a robotic gripper designed for the disassembly of electromechanical devices that comprises several innovative ideas. Novel concepts include the ability to interchange built-in tools without the need to grasp them, the ability to reposition grasped objects in-hand, the capability of performing classic dual arm manipulation within the gripper and the utilization of classic industrial robotic arms kinematics within a robotic gripper. We analyze state of the art grippers and robotic hands designed for dexterous in-hand manipulation and extract common characteristics and weak points. The presented concept is obtained from the task requirements for disassembly of electromechanical devices and it is then evaluated for general purpose grasping, in-hand manipulation and operations with tools. We further present the CAD design for a first prototype.
dc.format.extent8 p.
dc.language.isoeng
dc.publisherInstitute of Electrical and Electronics Engineers (IEEE)
dc.rightsAttribution-NonCommercial-NoDerivs 3.0 Spain
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/3.0/es/
dc.subjectÀrees temàtiques de la UPC::Informàtica::Robòtica
dc.subject.otherindustrial robots
dc.subject.othermanipulators
dc.subject.otherGripper design
dc.subject.otherelectric device disassembly
dc.titleThe KIT swiss knife gripper for disassembly tasks: a multi-functional gripper for bimanual manipulation with a single arm
dc.typeConference report
dc.identifier.doi10.1109/IROS.2018.8593567
dc.description.peerreviewedPeer Reviewed
dc.subject.inspecClassificació INSPEC::Automation::Robots
dc.relation.publisherversionhttps://ieeexplore.ieee.org/document/8593567
dc.rights.accessOpen Access
local.identifier.drac23937167
dc.description.versionPostprint (author's final draft)
dc.relation.projectidinfo:eu-repo/grantAgreement/EC/H2020/741930/EU/CLOTH manIpulation Learning from DEmonstrations/CLOTHILDE
dc.relation.projectidinfo:eu-repo/grantAgreement/EC/H2020/731761/EU/Robots Understanding Their Actions by Imagining Their Effects/IMAGINE
local.citation.authorBorras, J.; Heudorfer, R.; Rader, S.; Asfour, T.
local.citation.contributorIEEE/RSJ International Conference on Intelligent Robots and Systems
local.citation.publicationName2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
local.citation.startingPage4590
local.citation.endingPage4597


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