Abstract
The ability to grasp objects of varying stiffness is a crucial skill for robotic manipulators to perform tasks in real environments. Sensorized suction cups have been shown to be effective in grasping objects with different stiffness by measuring the preload force applied to the object. In this study, we investigate the effect of preload force on grasping objects with different stiffness using sensorized suction cups. We conducted experiments using sensorized suction cups to measure the preload force applied to objects of varying stiffness. Results show that the preload force depends on the type of material, and it increases with the increase of the stiffness of the object. Those findings provide valuable insights into the design of robotic manipulators that can effectively grasp objects with different stiffness using sensorized suction cups.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Shintake, J., Cacucciolo, V., Floreano, D., Shea, H.: Adv. Mater. 30, 1707035 (2018)
Zhang, Y., Zhang, W., Yang, J., Pu, W.: Soft Rob. 9, 531 (2022)
Zhang, B., Xie, Y., Zhou, J., Wang, K., Zhang, Z.: Comput. Electron. Agric. 177, 105694 (2020)
Shahabi, E., Lu, W.-H., Lin, P.T., Kuo, C.-H.: Am. Soc. Mech. Eng. V009T12A006 (2019)
Fiorello, I., et al.: Adv. Func. Mater. 30, 2003380 (2020)
Monkman, G.J., Hesse, S., Steinmann, R., Schunk, H.: Robot Grippers. Wiley, Hoboken (2007)
Hughes, J., Culha, U., Giardina, F., Guenther, F., Rosendo, A., Iida, F.: Front. Robot. AI 3, 69 (2016)
Gutfreund, Y., Flash, T., Yarom, Y., Fiorito, G., Segev, I., Hochner, B.: J. Neurosci. 16, 7297 (1996)
Tramacere, F., Follador, M., Pugno, N., Mazzolai, B.: Bioinspir. Biomim. 10, 035004 (2015)
Follador, M., Tramacere, F., Mazzolai, B.: Bioinspir. Biomim. 9, 046002 (2014)
Tramacere, F., Beccai, L., Kuba, M., Gozzi, A., Bifone, A., Mazzolai, B.: PLoS ONE 8, e65074 (2013)
Shahabi, E., Visentin, F., Mondini, A., Mazzolai, B.: Adv. Intell. Syst. 5, 2200201 (2023)
Huh, T.M., et al.: IEEE, pp. 1786–1793 (2021)
Mazzolai, B., et al.: Adv. Intell. Syst. 1, 1900041 (2019)
Aoyagi, S., Suzuki, M., Morita, T., Takahashi, T., Takise, H.: IEEE/ASME Trans. Mechatron. 25, 2501 (2020)
Frey, S.T., et al.: Sci. Adv. 8, eabq1905 (2022)
Acknowledgements
This work was carried out within the framework of the project “RAISE-Robotics and AI for Socio-economic Empowerment” and was supported by European Union- NextGenerationEU.
Author information
Authors and Affiliations
Corresponding authors
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2023 The Author(s), under exclusive license to Springer Nature Switzerland AG
About this paper
Cite this paper
Shahabi, E., Visentin, F., Mondini, A., Mazzolai, B. (2023). Understanding Preload Force for Grasping Objects with Different Stiffness Using Sensorized Suction Cups. In: Meder, F., Hunt, A., Margheri, L., Mura, A., Mazzolai, B. (eds) Biomimetic and Biohybrid Systems. Living Machines 2023. Lecture Notes in Computer Science(), vol 14157. Springer, Cham. https://doi.org/10.1007/978-3-031-38857-6_21
Download citation
DOI: https://doi.org/10.1007/978-3-031-38857-6_21
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-031-38856-9
Online ISBN: 978-3-031-38857-6
eBook Packages: Computer ScienceComputer Science (R0)