Workspace volume and grasping capabilities (IMAGE)

Singapore University of Technology and Design

Workspace volume and grasping capabilities

Caption

(A) Plot showing the workspace volumes of the RWS gripper in its four modes. The gripper volume in the unactuated state (“RWS”) is also plotted for reference. (B) Illustration showing the variation of gripper contact area for various grasping modes, each contact area best suited for a payload type. (C) RWS Gripper grasping (top row, from left to right) a cookie pack (power grasping mode) yogurt container (wide grasping mode) egg and tofu stack (power grasping mode), (bottom row, from left to right), cherry tomato, crisp and coin (pinch grasping mode), and chickpeas (scoop grasping mode) (D) The RWS gripper grasping payloads from YCB benchmark object sets—(top row, from left to right) a mug, knife, tuna can, bolt, screw driver; (middle row, from left to right) scissors, can of spam, baseball, clamp, strawberry; (bottom row, from left to right) marker, screw driver, nut, credit card.

Credit

SUTD

Usage Restrictions

SUTD

License

Original content

Disclaimer: AAAS and EurekAlert! are not responsible for the accuracy of news releases posted to EurekAlert! by contributing institutions or for the use of any information through the EurekAlert system.