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- Smits, Yannick (author) master thesis 2023
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Zwinkels, Stan (author)In household and retail store environments, humans efficiently identify grasp regions of an object to perform everyday tasks. To enable robots to understand the requirements of a task and the properties of an object, a novel grasp framework, called the Shape Primitive and Reasoning Grasping Engine (SPaRGE), is proposed in this thesis. SPaRGE...master thesis 2023
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Popken, Marlies (author)While defusing a bomb or performing a rescue mission with a teleoperated robot, grasping various objects is crucial. Despite being a routine activity, remote grasping is still challenging. It is difficult to apply an adequate grip force to avoid slippage and damage to an object. An additional challenge is controlling both motion and force at the...master thesis 2023
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Kortman, Jelle (author)In the semiconductor industry, integrated circuits with nanometre scale structures are manufactured on silicon wafers. Particle contamination on the topside of the wafer can result in the defectivity of the entire die. In the ever-increasing efforts to create smaller structures onto a wafer particle contamination becomes more restrictive to...master thesis 2023
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de Rooij, Rens (author)This research presents a measurement method for a compliant gripper finger, whereby the location of the contact with an object and the exerted grasp force are measured indirectly, instead of directly on the contacting surface. For this purpose, the deformation is measured using strain gauges at two locations on the inside structure of the finger...master thesis 2023
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Sedlar, Jiri (author), Stepanova, Karla (author), Skoviera, Radoslav (author), Behrens, Jan K. (author), Tuna, Matus (author), Sejnova, Gabriela (author), Sivic, Josef (author), Babuska, R. (author)This letter introduces a dataset for training and evaluating methods for 6D pose estimation of hand-held tools in task demonstrations captured by a standard RGB camera. Despite the significant progress of 6D pose estimation methods, their performance is usually limited for heavily occluded objects, which is a common case in imitation learning...journal article 2023
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Langens, Coco (author)Manipulating soft and fragile objects is a challenging task in robotic grasping. The key challenge for robotic grasping is to exert enough grip force to prevent slipping while being gentle enough to prevent damage to an object. Existing grippers used for processes like automatic harvesting of fruits, either apply excessive grip force leading to...master thesis 2022
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van der Star, Anne (author)In this paper the first gripper that can grasp bunches of bananas is presented. Bunches of bananas are difficult to grasp by a mechanical gripper, as they vary in size and shape and are sensitive to damage caused by mechanical impact. In former research, single bananas have been grasped with pinching- or granular grippers. The gripper proposed...master thesis 2022
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Resink, Jaap (author)Kinematic couplings (KCs) are a subclass of couplings known for reaching unmatched precision, through relatively simplistic designs. The 3-vee-groove and Kelvin clamp are the archetype designs, and are still being further investigated for their potential. One of the limiting factors in the field of kinematic couplings is the lack of proper...master thesis 2022
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Lipman, Lars (author)<b>Introduction </b>- Grasping unknown objects is an important ability for robots in logistic environments. While humans have an excellent understanding of how to grasp objects because of their visual perception and understanding of the 3D world, robotic grasping is still a challenge. Due to the fast-growing development of deep learning methods,...master thesis 2022
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Smit, Neil (author)Fin Ray Effect (FRE) grippers have proven versatile and effective in pick & place automation applications. However, spherical and lateral round objects are still a challenge for the state-of-the-art, as solutions are unstable when placing those objects off-centre from the longitudinal line. Resulting in large and heavy FRE gripper assemblies...master thesis 2022
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Friederich, Bart (author)This research proposes and validates a novel grasping principle to be able to set caging grasps in cluttered environments. A prototype is designed making use of manoeuvering fingers which propagate along the object surface and are covered with everting belts to minimize slip and thus friction forces on the object and environment. Using several...master thesis 2022
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Boonstra, Dirk-Jan (author)Tactile sensing provides crucial information about the stability of a grasped object by a robotic gripper. Tactile feedback can be used to predict slip, allowing for timely response to perturbations and to avoid dropping objects. Tactile sensors, included in robotic grippers, measure vibrations, strain or shearing forces which are produced by...master thesis 2022
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Li, Shuguang (author), Awale, Samer A. (author), Bacher, Katharine E. (author), Buchner, Thomas J. (author), Della Santina, C. (author), Wood, Robert J. (author), Rus, Daniela (author)Today's use of large-scale industrial robots is enabling extraordinary achievement on the assembly line, but these robots remain isolated from the humans on the factory floor because they are very powerful, and thus dangerous to be around. In contrast, the soft robotics research community has proposed soft robots that are safe for human...journal article 2022
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Cleijpool, Bram (author)The detachment of a product from a suction cup gripper is a challenge that emerged in recent years in the high-speed case packing of packaged food. In this industry suction cups are used to temporarily attach a product to a case packing robot. The detachment of products from the suction cup gripper threatens throughput. In, some cases, the...master thesis 2021
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Wiersma, Mark (author)Automated bin-picking is a difficult task that requires solving multiple robotic vision problems including object detection and grasp proposal generation. Current methods use deep learning to approach each of the vision problems of bin-picking separately with the main focus on generating the grasp proposals. For grasp proposal generation, neural...master thesis 2021
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Vilella Ramisa, Marti (author)To manage the increasing amount of satellite traffic in orbit and renewed operational ambitions, it is crucial to advance the capabilities of space robotic systems to enable complex manipulability tasks. These abilities will provide the necessary components to perform satellite de-orbiting, servicing of important assets, and assistance in on...master thesis 2021
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Mészáros, Anna (author)Grasping objects in a smooth humanlike motion, instead of the more typical pick-and-place approach, includes multiple aspects that need to be performed correctly for a successful grasp. These aspects involve moving the end-effector such that its surface makes and retains contact with the object while also coordinating the movement of the gripper...master thesis 2021
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Ratz, Raphael (author), Conti, François (author), Müri, René M. (author), Marchal Crespo, L. (author)Neurorehabilitation research suggests that not only high training intensity, but also somatosensory information plays a fundamental role in the recovery of stroke patients. Yet, there is currently a lack of easy-to-use robotic solutions for sensorimotor hand rehabilitation. We addressed this shortcoming by developing a novel clinical-driven...journal article 2021
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Luijkx, Jelle (author)There are many stages that involve humans handling food objects in the processing chains from farms to stores. For some of these tasks it is desirable to look for a robotic solution to either assist the human or even take over that task, e.g. if it is physically demanding, imposes contamination risks or because of economical considerations....master thesis 2020