Conceptual Design of a Novel Particle-Based Soft Grasping Gripper

Soft grippers show adaptability and flexibility in grasping irregularly shaped and fragile objects. However, the low loading capacity and less deformation limit the soft gripper for developing large-scale applications. To overcome these limitations, we propose a new concept of a soft actuator with engineered smart particles. The proposed soft...

Continuous Occupancy Mapping in Dynamic Environments Using Particles

Particle-based dynamic occupancy maps were proposed in recent years to model the obstacles in dynamic environments. Current particle-based maps describe the occupancy status in discrete grid form and suffer from the grid size problem, wherein a large grid size is unfavorable for motion planning while a small grid size lowers efficiency and...

Integrated Task Assignment and Path Planning for Capacitated Multi-Agent Pickup and Delivery

Multi-agent Pickup and Delivery (MAPD) is a challenging industrial problem where a team of robots is tasked with transporting a set of tasks, each from an initial location and each to a specified target location. Appearing in the context of automated warehouse logistics and automated mail sortation, MAPD requires first deciding which robot is...

Neuro-Adaptive Cooperative Tracking Rendezvous of Nonholonomic Mobile Robots

This brief proposes a neuro-adaptive method for the unsolved problem of cooperative tracking rendezvous of nonholonomic mobile robots (NMRs) subject to uncertain and unmodelled dynamics. A hierarchical cooperative control framework is proposed, which consists of a novel distributed estimator along with local neuro-adaptive tracking...

A novel algorithm for fast grasping of unknown objects using C-shape configuration

Increasing grasping efficiency is very important for the robots to grasp unknown objects especially subjected to unfamiliar environments. To achieve this, a new algorithm is proposed based on the C-shape configuration. Specifically, the geometric model of the used under-actuated gripper is approximated as a C-shape. To obtain an appropriate...

Fast grasping of unknown objects using principal component analysis

Fast grasping of unknown objects has crucial impact on the efficiency of robot manipulation especially subjected to unfamiliar environments. In order to accelerate grasping speed of unknown objects, principal component analysis is utilized to direct the grasping process. In particular, a single-view partial point cloud is constructed and...