Evaluating end-effector modalities for warehouse picking: A vacuum gripper vs a 3-finger underactuated hand

Zakary Littlefield, Shaojun Zhu, Hristiyan Kourtev, Zacharias Psarakis, Rahul Shome, Andrew Kimmel, Andrew Dobson, Alberto F. De Souza, Kostas E. Bekris

Research output: Chapter in Book/Report/Conference proceedingConference contribution

7 Scopus citations

Abstract

This paper studies two end-effector modalities for warehouse picking: (i) a recently developed, underactuated three-finger hand and (ii) a custom built, vacuum-based gripper. The two systems differ on how they pick objects. The first tool provides increased flexibility, while the vacuum alternative is simpler and smaller. The aim is to show how the end-effector influences the success rate and speed of robotic picking. For the study, the same planning process is followed for known poses of multiple objects with different geometries and characteristics. The resulting trajectories are executed on a real system showing that, under different conditions, different types of end-effectors can be beneficial. This motivates the development of hybrid solutions.

Original languageEnglish (US)
Title of host publication2016 IEEE International Conference on Automation Science and Engineering, CASE 2016
PublisherIEEE Computer Society
Pages1190-1195
Number of pages6
ISBN (Electronic)9781509024094
DOIs
StatePublished - Nov 14 2016
Event2016 IEEE International Conference on Automation Science and Engineering, CASE 2016 - Fort Worth, United States
Duration: Aug 21 2016Aug 24 2016

Publication series

NameIEEE International Conference on Automation Science and Engineering
Volume2016-November
ISSN (Print)2161-8070
ISSN (Electronic)2161-8089

Other

Other2016 IEEE International Conference on Automation Science and Engineering, CASE 2016
Country/TerritoryUnited States
CityFort Worth
Period8/21/168/24/16

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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