Grasping Research
The Collaborative Systems Lab engages in a variety of Grasping-related
research at both the macro scale and micro scale.
- Gesture-Based Programming (Programming by Human Demonstration)
- Tactile Sensor Development
Grasping Hardware
This multi-degree-of-freedom micro/macro-actuating gripper is used for force- and vision-based assembly and investigation into the basic behavior of materials during attachment (such as with solder or UV epoxy). | This planar, two-fingered, four degrees-of-freedom hand is tendon driven and suitable for mounting on a PUMA or equivalent robot. |
We have developed a variety of fingertips of different materials, including tactile sensors (see below). | |
The TerminatorBot is a palm-top robot that can both locomote and manipulate with its two articulated limbs. Here, it lifts a small wheeled robot (The Scout) into a stealthy hiding place that the Scout cannot otherwise access. | |
The TerminatorBot has force/torque sensors embedded in its elbows. The novel design of these sensors allows them to transduce three components of the 6-axis force/torque vector at the tip of the arm with nearly isotropic sensitivity. | |
We have developed a variety of intrinsic and extrinsic tactile sensors for both humans and robots. Intrinsic tactile sensors trasnduce net force vectors like a traditional multi-axis force sensor. Extrinsic tactile sensors transduce a tactile image. The sensor pictured is modular and is suitable for a robotic hand or other mechanical device. It combines both intrinsic and extrinsic sensors in a single unit. The extrinsic sensor makes novel use of an electrorheological fluid for sensing and even actuation. |
Grasping Software
- TermGrasp-VS
Publications
- R. Voyles and S. Hulst, "Micro/Macro Force-Servoed Gripper for Precision Photonics Assembly and Analysis," to appear in Robotica.
- R. Singh, R.M. Voyles, D. Littau, and N.P. Papanikolopoulos, "Shape Morphing-Based Control of Robotic Visual Servoing," in Autonomous Robots, v. 10, n. 3, pp 317-338, 2001.
- R.M. Voyles and P.K. Khosla, " A Multi-Agent System for Programming Robots by Human Demonstration," in Integrated Computer-Aided Engineering, v. 8, n. 1, pp. 59-67, 2001.
- R.M. Voyles, J.D. Morrow, and P.K. Khosla, " Gesture-Based Programming for Robotics: Human Augmented Software Adaptation,," special issue of IEEE Intelligent Systems on self-adaptive software, v. 14, n. 6, 1999, pp. 22-29.
- R.M. Voyles, J.D. Morrow, and P.K. Khosla, " Towards Gesture-Based Programming: Shape from Motion Primordial Learning of Sensorimotor Primitives," special issue of the Journal of Robotics and Autonomous Systems on robot learning, v. 22, n. 3-4, Dec. 1997, pp. 361-375.
- R.M. Voyles, "A Mesoscale Mechanism for Adaptive Mobile Manipulation," in Proceedings of the ASME Dynamic Systems and Control Division, ASME Annual Meeting, v. 2, pp. 957-964.
- R.M. Voyles, "Novel Gaits for a Novel Crawling/Grasping Mechanism," in Proceedings of the International Symposium on Adaptive Motion of Animals and Machines, v 1, pp. .
- R.M. Voyles, "TerminatorBot: A Robot with Dual-Use Arms for Manipulation and Locomotion," in Proceedings of the 2000 IEEE International Conference on Robotics and Automation, v 1, pp. 61-66.
- R. Singh, R.M. Voyles, D. Littau, and N.P. Papanikolopoulos, "Shape Recognition and Vision-Based Robot Control Using Shape Morphing," in Proceedings of the 1999 IEEE International Conference on Information, Intelligence, and Systems, Washington, D.C., pp. 188-195.
- P.E. Rybski and R.M. Voyles, "Interactive Task Training of a Mobile Robot Through Human Gesture Recognition," in Proceedings of the 1999 IEEE International Conference on Robotics and Automation, v. 1, pp. 664-669.
- R.M. Voyles and P.K. Khosla, "Gesture-Based Programming: A Preliminary Demonstration," in Proceedings of the 1999 IEEE International Conference on Robotics and Automation, v. 1, pp 708-713 (19MBytes!).
- R. Singh, R.M. Voyles, D. Littau, and N.P. Papanikolopoulos, "Grasping Real Objects Using Virtual Images," in Proceedings of the 1998 IEEE International Conference on Decision and Control, Tampa, FL, December 16-18, pp. 3269-3274.
- R. Singh, R.M. Voyles, D. Littau, N.P. Papanikolopoulos, "Pose Alignment of An Eye-In-Hand System Using Image Morphing," in Proceedings of 1998 IEEE/RSJ International Conference on Robots and Systems, Vancouver, BC
- R.M. Voyles, A. Agah, P.K. Khosla and G.A. Bekey, " Tropism-Based Cognition for the Interpretation of Context-Dependent Gestures," in Proceedings of 1997 IEEE International Conference on Robotics and Automation, Albuquerque, NM, v. 4, pp. 3481-3486, Apr. 1997. (54,694 bytes)
- R.M. Voyles and P.K. Khosla, " Gesture-Based Programming, Part 1: A Multi-Agent Approach," in Intelligent Engineering Systems through Artificial Neural Networks, Volume 6; Smart Engineering Systems: Neural Networks, Fuzzy Logic and Evolutionary Programming, ASME Press, 1996.
- R.M. Voyles, J.D. Morrow and P.K. Khosla, " Gesture-Based Programming, Part 2: Primordial Learning," in Intelligent Engineering Systems through Artificial Neural Networks, Volume 6; Smart Engineering Systems: Neural Networks, Fuzzy Logic and Evolutionary Programming, ASME Press, 1996.
- R.M. Voyles, Jr., G. Fedder and P.K. Khosla, " A Modular Tactile Sensor and Actuator Based on an Electrorheological Gel," in Proceedings of 1996 IEEE International Conference on Robotics and Automation, Minneapolis, MN, Apr. 1996, pp. 13-17. (86,367 bytes)
- R.M. Voyles, Jr. and P.K. Khosla, " Multi-Agent Gesture Interpretation for Robotic Cable Harnessing," in Proceedings of 1995 IEEE Conf. on Systems, Man, and Cybernetics, Vancouver, B.C., Oct. 1995, v. 2, pp. 1113 - 1118. (364,439 bytes compressed)
- R.M. Voyles, Jr. and P.K. Khosla, " Tactile Gestures for Human/Robot Interaction," in Proceedings of 1995 IEEE/RSJ Conf. on Intelligent Robots and Systems, Pittsburgh, PA, Aug. 1995. (358,839 bytes compressed)
- R.M. Voyles, Jr., B.L. Stavnheim, and B. Yap, "Practical Electrorheological Fluid-Based Fingertips for Robotic Applications," in Proceedings of 1989 IASTED International Symposium on Robotics and Manufacturing, Santa Barbara, CA, Nov. 1989.
Copyright: © 2002-2003,2019 by Richard Voyles
rvoyles [at] purdue [dot] edu