ContinuumEA: A soft continuum electroadhesive manipulator

Research output: Chapter in Book/Report/Conference proceedingConference Contribution (Conference Proceeding)

2 Citations (Scopus)
198 Downloads (Pure)

Abstract

Soft robotic gripping technologies are highly important for pick-and-place of difficult-to-access, difficult-to-handle, and delicate materials. Electroadhesion (EA) is an electrically controllable, energy-saving, highly adaptable, and lightweight material handling technology. Current EA grippers are not able to handle objects in difficult-to-access places such as confined pipelines. We present ContinuumEA, a combination of a soft continuum arm and an EA end effector, for pick-and-place of objects in complicated environments. We embed both a camera and an EA gripper into the end effector of a multi-segment soft continuum arm to demonstrate capabilities of soft-and-safe movement, object search by visual feedback, and 3D movement and placement of objects using EA gripping. ContinuumEA has the potential to extend the gripping performance and capability of current EA grippers and increase their use in material handling applications in challenging environments.

Original languageEnglish
Title of host publication2018 IEEE International Conference on Robotics and Biomimetics (ROBIO 2018)
Subtitle of host publicationProceedings of a meeting held 12-15 December 2018, Kuala Lumpur, Malaysia.
PublisherInstitute of Electrical and Electronics Engineers (IEEE)
Pages2473-2478
Number of pages6
ISBN (Electronic)9781728103761
ISBN (Print)9781728103785
DOIs
Publication statusPublished - 11 Mar 2019
Event2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018 - Kuala Lumpur, Malaysia
Duration: 12 Dec 201815 Dec 2018

Conference

Conference2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018
CountryMalaysia
CityKuala Lumpur
Period12/12/1815/12/18

Structured keywords

  • Tactile Action Perception

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  • Cite this

    Xiang, C., Guo, J., & Rossiter, J. (2019). ContinuumEA: A soft continuum electroadhesive manipulator. In 2018 IEEE International Conference on Robotics and Biomimetics (ROBIO 2018): Proceedings of a meeting held 12-15 December 2018, Kuala Lumpur, Malaysia. (pp. 2473-2478). [8664717] Institute of Electrical and Electronics Engineers (IEEE). https://doi.org/10.1109/ROBIO.2018.8664717