TY - JOUR T1 - No More Heavy Lifting: Robotic Solutions to the Container Unloading Problem JF - IEEE Robotics and Automation Magazine Y1 - 2016 A1 - T. Stoyanov A1 - N. Vaskeviciusz A1 - C. A. Mueller A1 - T. Fromm A1 - R. Krug A1 - V. Tincani A1 - R. Mojtahedzadeh A1 - S. Kunaschk A1 - R. M. Ernits A1 - D. R. Canelhas A1 - M. Bonilla A1 - S. Schwertfeger A1 - M. Bonini A1 - H. Halfar A1 - K. Pathak A1 - M. Rohde A1 - G Fantoni A1 - A. Bicchi A1 - A. Birk A1 - A. Lilienthal A1 - W. Echelmeyer KW - Robotics VL - 23 UR - https://ieeexplore.ieee.org/document/7553531 IS - 4 ER - TY - JOUR T1 - Grasping devices and methods in automated production processes JF - CIRP Annals - Manufacturing Technology Y1 - 2014 A1 - G Fantoni A1 - Santochi, M. A1 - Dini, G. A1 - Tracht, K. A1 - Scholz-Reiter, B. A1 - Fleischer, J. A1 - Kristoffer Lien, T. A1 - Seliger, G. A1 - Reinhart, G. A1 - Franke, J. A1 - Nørgaard Hansen, H. A1 - Verl, A. KW - Robotics AB -

In automated production processes grasping devices and methods play a crucial role in the handling of many parts, components and products. This keynote paper starts with a classification of grasping phases, describes how different principles are adopted at different scales in different applications and continues explaining different releasing strategies and principles. Then the paper classifies the numerous sensors used to monitor the effectiveness of grasping (part presence, exchanged force, stick-slip transitions, etc.). Later the grasping and releasing problems in different fields (from mechanical assembly to disassembly, from aerospace to food industry, from textile to logistics) are discussed. Finally, the most recent research is reviewed in order to introduce the new trends in grasping. They provide an outlook on the future of both grippers and robotic hands in automated production processes.

VL - 63 UR - http://www.sciencedirect.com/science/article/pii/S0007850614001887 IS - 2 ER - TY - CONF T1 - Gripping device for heavy and deformable materials handling: concept, design, selection and test T2 - 24th CIRP Design Conference Y1 - 2014 A1 - Tilli, J. A1 - Brando, A. A1 - G Fantoni KW - Robotics JF - 24th CIRP Design Conference CY - Milan, April 14 - 16 ER - TY - CONF T1 - Method for supporting the selection of robot grippers T2 - 24th CIRP Design Conference Y1 - 2014 A1 - G Fantoni A1 - Capiferri, S. A1 - Tilli, J. KW - Robotics JF - 24th CIRP Design Conference CY - Milan, April 14 - 16 ER - TY - CONF T1 - Object shaping with a sonotrode T2 - 25th symposium on Free Form Fabrication Y1 - 2014 A1 - Tilli, J. A1 - G Fantoni A1 - Currenti, S. A1 - Razionale, A. V. KW - Robotics JF - 25th symposium on Free Form Fabrication ER - TY - CONF T1 - Shaping of foam-like materials through the use of a sonotrode T2 - International Conference On Innovative Design And Manufacturing Y1 - 2014 A1 - G Fantoni A1 - Tilli, J. A1 - F. A. W. Belo A1 - Ishak, R. KW - Robotics JF - International Conference On Innovative Design And Manufacturing CY - Montreal, Quebec, Canada, August 13-15 ER - TY - CONF T1 - Underwater drilling of foam-like materials and wax using ultrasound technology T2 - International Conference On Innovative Design And Manufacturing Y1 - 2014 A1 - Tilli, J. A1 - G Fantoni A1 - Currenti, S. KW - Robotics JF - International Conference On Innovative Design And Manufacturing CY - Montreal, Quebec, Canada, August 13-15 ER - TY - CONF T1 - Velvet Fingers: Grasp Planning and Execution for an Underactuated Gripper with Active Surfaces T2 - 2014 IEEE International Conference on Robotics and Automation Y1 - 2014 A1 - R. Krug A1 - T. Stoyanov A1 - M. Bonilla A1 - V. Tincani A1 - N. Vaskeviciusz A1 - G Fantoni A1 - A. Birkz A1 - A. Lilienthal A1 - A. Bicchi KW - Haptics KW - Robotics AB -

In this work we tackle the problem of planning grasps for an underactuated gripper which enable it to retrieve target objects from a cluttered environment. Furthermore, we investigate how additional manipulation capabilities of the gripping device, provided by active surfaces on the inside of the fingers, can lead to performance improvement in the grasp execution process. To this end, we employ a simple strategy, in which the target object is `pulled-in' towards the palm during grasping which results in firm enveloping grasps. We show the effectiveness of the suggested methods by means of experiments conducted in a real-world scenario.

JF - 2014 IEEE International Conference on Robotics and Automation PB - IEEE CY - Hong Kong, May 31 2014-June 7 2014 UR - http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=6907390 U1 -

Roblog

ER - TY - CONF T1 - Controlling the active surfaces of the Velvet Fingers: sticky to slippy fingers T2 - IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2013 Y1 - 2013 A1 - V. Tincani A1 - G. Grioli A1 - M. G. Catalano A1 - M. Bonilla A1 - M. Garabini A1 - G Fantoni A1 - A. Bicchi KW - Robotics AB -

Industrial grippers are often used for grasping, while in-hand re-orientation and positioning are dealt with by other means. Contact surface engineering has been recently proposed as a possible mean to introduce dexterity in simple grippers, as in the Velvet Fingers smart gripper, a novel concept of end-effector combining simple under-actuated mechanics and high manipulation possibilities, thanks to conveyors which are built in the finger pads. This paper undergoes the modeling and control of the active conveyors of the Velvet Fingers gripper which are rendered able to emulate different levels of friction and to apply tangential thrusts to the contacted objects. Through the paper particular attention is dedicated to the mechanical implementation, sense drive and control electronics of the device. The capabilities of the prototype are showed in some grasping and manipulation experiments.

JF - IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2013 CY - Tokyo, Japan UR - http://ieeexplore.ieee.org/xpl/login.jsp?tp=&arnumber=6697152&url=http%3A%2F%2Fieeexplore.ieee.org%2Fxpls%2Fabs_all.jsp%3Farnumber%3D6697152 ER - TY - CONF T1 - Implementation and Control of the Velvet Fingers: a Dexterous Gripper with Active Surfaces T2 - IEEE International Conference on Robotics and Automation (ICRA2013) Y1 - 2013 A1 - V. Tincani A1 - G. Grioli A1 - M. G. Catalano A1 - M. Garabini A1 - S. Grechi A1 - G Fantoni A1 - A. Bicchi KW - Haptics KW - Robotics JF - IEEE International Conference on Robotics and Automation (ICRA2013) UR - 10.1109/ICRA.2013.6630955 ER - TY - CONF T1 - Velvet fingers: A dexterous gripper with active surfaces T2 - International Conference of Intelligent Robots and Systems - IROS 2012 Y1 - 2012 A1 - V. Tincani A1 - M. G. Catalano A1 - E. Farnioli A1 - M. Garabini A1 - G. Grioli A1 - G Fantoni A1 - A. Bicchi KW - Robotics JF - International Conference of Intelligent Robots and Systems - IROS 2012 CY - Vilamoura, Algarve, Portugal ER - TY - PAT T1 - Contenitore per alimenti caldi e simili Y1 - 2010 A1 - M. Bonini A1 - R. Casati A1 - M. Falorni A1 - G Fantoni A1 - M. Massei A1 - D. Mazzei A1 - M. Mazzuoli A1 - G. Renucci KW - Bioengineering ER -