%0 Journal Article %J IEEE Robotics and Automation Magazine %D 2016 %T No More Heavy Lifting: Robotic Solutions to the Container Unloading Problem %A T. Stoyanov %A N. Vaskeviciusz %A C. A. Mueller %A T. Fromm %A R. Krug %A V. Tincani %A R. Mojtahedzadeh %A S. Kunaschk %A R. M. Ernits %A D. R. Canelhas %A M. Bonilla %A S. Schwertfeger %A M. Bonini %A H. Halfar %A K. Pathak %A M. Rohde %A G Fantoni %A A. Bicchi %A A. Birk %A A. Lilienthal %A W. Echelmeyer %K Robotics %B IEEE Robotics and Automation Magazine %V 23 %8 08/2016 %G eng %U https://ieeexplore.ieee.org/document/7553531 %N 4 %& 94 %R https://doi.org/10.1109/MRA.2016.2535098 %0 Journal Article %J CIRP Annals - Manufacturing Technology %D 2014 %T Grasping devices and methods in automated production processes %A G Fantoni %A Santochi, M. %A Dini, G. %A Tracht, K. %A Scholz-Reiter, B. %A Fleischer, J. %A Kristoffer Lien, T. %A Seliger, G. %A Reinhart, G. %A Franke, J. %A Nørgaard Hansen, H. %A Verl, A. %K Robotics %X

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.

%B CIRP Annals - Manufacturing Technology %V 63 %P 679-701 %G eng %U http://www.sciencedirect.com/science/article/pii/S0007850614001887 %N 2 %R 10.1016/j.cirp.2014.05.006 %0 Conference Paper %B 24th CIRP Design Conference %D 2014 %T Gripping device for heavy and deformable materials handling: concept, design, selection and test %A Tilli, J. %A Brando, A. %A G Fantoni %K Robotics %B 24th CIRP Design Conference %C Milan, April 14 - 16 %0 Conference Paper %B 24th CIRP Design Conference %D 2014 %T Method for supporting the selection of robot grippers %A G Fantoni %A Capiferri, S. %A Tilli, J. %K Robotics %B 24th CIRP Design Conference %C Milan, April 14 - 16 %0 Conference Paper %B 25th symposium on Free Form Fabrication %D 2014 %T Object shaping with a sonotrode %A Tilli, J. %A G Fantoni %A Currenti, S. %A Razionale, A. V. %K Robotics %B 25th symposium on Free Form Fabrication %0 Conference Paper %B International Conference On Innovative Design And Manufacturing %D 2014 %T Shaping of foam-like materials through the use of a sonotrode %A G Fantoni %A Tilli, J. %A F. A. W. Belo %A Ishak, R. %K Robotics %B International Conference On Innovative Design And Manufacturing %C Montreal, Quebec, Canada, August 13-15 %0 Conference Paper %B International Conference On Innovative Design And Manufacturing %D 2014 %T Underwater drilling of foam-like materials and wax using ultrasound technology %A Tilli, J. %A G Fantoni %A Currenti, S. %K Robotics %B International Conference On Innovative Design And Manufacturing %C Montreal, Quebec, Canada, August 13-15 %0 Conference Paper %B 2014 IEEE International Conference on Robotics and Automation %D 2014 %T Velvet Fingers: Grasp Planning and Execution for an Underactuated Gripper with Active Surfaces %A R. Krug %A T. Stoyanov %A M. Bonilla %A V. Tincani %A N. Vaskeviciusz %A G Fantoni %A A. Birkz %A A. Lilienthal %A A. Bicchi %K Haptics %K Robotics %X

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.

%B 2014 IEEE International Conference on Robotics and Automation %I IEEE %C Hong Kong, May 31 2014-June 7 2014 %P 3669 - 3675 %U http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=6907390 %1

Roblog

%R 10.1109/ICRA.2014.6907390 %0 Conference Paper %B IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2013 %D 2013 %T Controlling the active surfaces of the Velvet Fingers: sticky to slippy fingers %A V. Tincani %A G. Grioli %A M. G. Catalano %A M. Bonilla %A M. Garabini %A G Fantoni %A A. Bicchi %K Robotics %X

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.

%B IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2013 %C Tokyo, Japan %P 5494 - 5499 %8 November 3-7 %G eng %U http://ieeexplore.ieee.org/xpl/login.jsp?tp=&arnumber=6697152&url=http%3A%2F%2Fieeexplore.ieee.org%2Fxpls%2Fabs_all.jsp%3Farnumber%3D6697152 %R 10.1109/IROS.2013.6697152 %0 Conference Paper %B IEEE International Conference on Robotics and Automation (ICRA2013) %D 2013 %T Implementation and Control of the Velvet Fingers: a Dexterous Gripper with Active Surfaces %A V. Tincani %A G. Grioli %A M. G. Catalano %A M. Garabini %A S. Grechi %A G Fantoni %A A. Bicchi %K Haptics %K Robotics %B IEEE International Conference on Robotics and Automation (ICRA2013) %P 2744 - 2750 %G eng %U 10.1109/ICRA.2013.6630955 %0 Conference Paper %B International Conference of Intelligent Robots and Systems - IROS 2012 %D 2012 %T Velvet fingers: A dexterous gripper with active surfaces %A V. Tincani %A M. G. Catalano %A E. Farnioli %A M. Garabini %A G. Grioli %A G Fantoni %A A. Bicchi %K Robotics %B International Conference of Intelligent Robots and Systems - IROS 2012 %C Vilamoura, Algarve, Portugal %P 1257 - 1263 %8 October 7 - 12 %G eng %0 Patent %D 2010 %T Contenitore per alimenti caldi e simili %A M. Bonini %A R. Casati %A M. Falorni %A G Fantoni %A M. Massei %A D. Mazzei %A M. Mazzuoli %A G. Renucci %K Bioengineering %G eng