Connecting End-Effector Design, Sensitivity, and Behavior
October 1, 2018 — 9:00 to 18:30 — Madrid, Spain
Keywords: Dexterous Manipulation, Field Robotics, Mechanisms and Design, Soft Robots, Tactile Sensing, Haptics
Organized by Hannah Stuart (University of California Berkeley), Manuel Giuseppe Catalano (Istituto Italiano di Tecnologia) and Francesca Negrello (Istituto Italiano di Tecnologia)
This workshop is endorsed by the RAS Technical Committee on Robotic Hand Grasping and Manipulation and the RAS Technical Committee on Mechanisms and Design.
This workshop focuses on the field application of robotic end-effectors, lying at the intersection of cutting-edge hardware, behavior and sensitivity. We believe that to overcome traditional end-effector limitations, it is essential to create interconnections between these pillars of robot design.
Experts in controls and sensitivity can inspire new approaches to resilient functionality. Mechanical hardware designers can likewise enable new possibilities in control, through the development of novel hands that can be effectively used outside of the lab. Additionally, what are the trends in performance qualification, and how might this become more efficient and universal. This is a fundamental challenge for hands applied in the field, as contact conditions and environmental circumstances largely influence performance.
The workshop has a strong focus on real applications, therefore it is at the natural intersection between academia and industry. The discussion will involve potential end-users and developers, to identify the applications where soft hands can make the difference, and the needs to expand their use. Young scholars will also be welcomed to contribute through a poster/demo session, and spotlight talks for top contenders. The selected students will have 15 min to present. Given the recent trend of promoting the interactive sessions, we think it is a great opportunity for a student to have a proper speech. This will give them the opportunity to receive feedback from experts and peers in different realms of manipulation research. These scholars are also important in creating new ideas that may elucidate different directions in the field.
Professor, TU Berlin, Robotics and Biology Laboratory
Hand + Sensing + Control = Manipulation – Can We Put the Pieces Together? Much has changed in grasping and manipulation over the past years. Today, robot hands are compliant and underactuated. The environment must not be avoided at all cost but serves as a guide to motion. Point contacts have given way to large contact patches. Static force-closure contact configurations have been replaced with temporally extended, multi-step feedback grasping plans. The consequences of these developments force us to reconsider every component of manipulation. In reconsidering, we must overcome the separation of components and begin to understand integrated manipulation systems, including mechanical design, sensing and perception, and control and planning. In this talk, I will report on the efforts of my lab to do exactly this.
Manuel Giuseppe Catalano
Researcher, Istituto Italiano di Tecnologia (IIT), Soft Robotics for Human Cooperation and Rehabilitation
Connecting hardware & behavior: new opportunities for soft robotic end-effectors
Professor, Stanford University, Biomimetics and Dexterous Manipulation Laboratory
Hands for a human-scale dexterous climbing quadruped: Although large robots can reach over obstacles, they also present challenges for climbing steep terrain. Mass grows as L^3 but hand and foot areas grow as L^2. To produce rugged end-effectors that can be loaded with hundreds of Newtons while achieving a wide variety of climbing holds, we adopt a combination of soft robotic design and arrays of microspines for high shear stresses on rocky surfaces. This combination introduces its own challenges of combining soft and very hard materials while avoiding undesirable stress concentrations. We use particle jamming to conform to surfaces and anchor the spines. Combined with a tendon-based system to distribute forces, the resulting underactuated hand can achieve a wide variety of holds without relying on feature envelopment.
Associate Professor, Yale University, The Grab Lab
Designing and leveraging soft underactuated hands for dexterous within-hand manipulation
Assistant Professor, Vanderbilt University
Soft Robotic Grippers for Biological Sampling on Deep Reefs: In this presentation, I will introduce our work in the design, bench-top characterization, manufacture, and in situ testing of soft robotic grippers for biological sampling on deep reefs. I will conclude with our recent work on soft robotic sensing that has the potential to support more advanced applications for soft robotic grippers and systems.
Assistant Professor, Yale University, Faboratory
Proprioceptive and tactile sensing in soft manipulators
Postdoctoral Fellow, Istituto Italiano di Tecnologia (IIT), Soft Robotics for Human Cooperation and Rehabilitation
Soft Robotic Hands for Tough Tasks: Benchmarking robustness: In real-world applications, end effectors are the main media of physical interaction. Consequently, the robotic hand/gripper capability to withstand high contact forces is an essential requirement. In this regard, I will discuss how the design can enhance robustness to impulsive loads and I will propose a method for benchmarking robotic end-effectors under this condition.
Deutsches Zentrum für Luft- und Raumfahrt e.V. (DLR), Institute of Robotics and Mechatronics
Measuring grasp performance: from labs to standardization
Assistant Professor, Massachusetts Institute of Technology (MIT), MCube Lab
Assistant Professor, University of California Berkeley, Embodied Dexterity Group
Embodying Dexterity for Undersea Worlds: Ocean environments present practical challenges (e.g. leaks, pressure, corrosion) that typically limit hand design. I will discuss how submersion can also provide new possibilities in mechanism sensitivity and control. This case study will set the stage for discussion throughout the workshop.
Associate Professor, University of South Florida, Robot Perception and Action Lab
Grasping for Daily Interactive Manipulation: In this presentation, I will introduce our latest efforts in robotic grasping for daily interactive manipulation tasks. It includes a new data-set that contains interactive force and motion measurements; a manipulation task set that was used in two recent competitions; and a new grasping approach that takes the requirements in interactive manipulation into consideration.
9:00 – 11:00 Session 1
– Introduction to topic (Hannah Stuart)
– Connecting hardware & behavior: new opportunities for soft robotic end-effectors (Manuel Catalano)
– Designing and leveraging soft underactuated hands for dexterous within-hand manipulation (Aaron Dollar)
– Towards soft continuous hands for manipulation and interaction (Oliver Brock)
11:00 Coffee Break / Poster Session / Demos
11:30 – 13:00 Session 2
– Soft Robotic Grippers for Biological Sampling (Kevin Galloway)
– Hands for a human-scale dexterous climbing quadruped (Mark Cutkosky)
– Grasping for Daily Interactive Manipulation (Yu Sun)
13:00 – 14:00 Lunch
14:00 – 16:00 Session 3
– Tactile dexterity (Alberto Rodriguez)
– Proprioceptive and tactile sensing in soft manipulators (Rebecca Kramer)
– Spotlight talks
16:00 – 16:30 Coffee Break / Poster Session / Demos
16:30 – 18:30 Session 4
– Measuring grasp performance: from labs to standardization (Maximo Roa)
– Soft Robotic Hands for Tough Tasks: Benchmarking robustness (Francesca Negrello)
– Group Discussion
Call for contributors
We intend to foster active discussion and participation from all workshop participants: speakers, exhibitors, audience. This is a call for demonstration exhibitors and poster presentations, to allow the workshop’s participants to trigger the discussion.
Separately from the poster/demo session, we have scheduled additional short-form speaking slots that will be awarded to selected contributors. This will be a wonderful opportunity for young scholars to present their work to a prominent crowd. The selected students will have 15 min to present in a podium-style format. Given the recent trend of promoting the interactive sessions, we think it is a great opportunity for a student to have a proper speech, and encourage all to apply.
Upload your information in the survey below. In the PDF file, include a title, abstract, and description of your work or demonstration. Highlight how this work fits into the themes of this particular workshop. Limit 1 page. The deadline for entry is September 1, 2018. Late entries may still be considered, but are not guaranteed.