ContinuumEA: A soft continuum electroadhesive manipulator

Chaoqun Xiang; Jianglong Guo; Jonathan Rossiter

doi:10.1109/ROBIO.2018.8664717

ContinuumEA: A soft continuum electroadhesive manipulator

Chaoqun Xiang, Jianglong Guo, Jonathan Rossiter

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

10 Citations (Scopus)

480 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 language	English
Title of host publication	2018 IEEE International Conference on Robotics and Biomimetics (ROBIO 2018)
Subtitle of host publication	Proceedings of a meeting held 12-15 December 2018, Kuala Lumpur, Malaysia.
Publisher	Institute of Electrical and Electronics Engineers (IEEE)
Pages	2473-2478
Number of pages	6
ISBN (Electronic)	9781728103761
ISBN (Print)	9781728103785
DOIs	https://doi.org/10.1109/ROBIO.2018.8664717
Publication status	Published - 11 Mar 2019
Event	2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018 - Kuala Lumpur, Malaysia Duration: 12 Dec 2018 → 15 Dec 2018

Conference

Conference	2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018
Country/Territory	Malaysia
City	Kuala Lumpur
Period	12/12/18 → 15/12/18

Structured keywords

Tactile Action Perception

Access to Document

10.1109/ROBIO.2018.8664717

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This is the accepted author manuscript (AAM). The final published version (version of record) is available online via IEEE at https://doi.org/10.1109/ROBIO.2018.8664717 . Please refer to any applicable terms of use of the publisher.
Accepted author manuscript, 966 KBLicence: Other

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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). Article 8664717 Institute of Electrical and Electronics Engineers (IEEE). https://doi.org/10.1109/ROBIO.2018.8664717

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title = "ContinuumEA: A soft continuum electroadhesive manipulator",

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.",

author = "Chaoqun Xiang and Jianglong Guo and Jonathan Rossiter",

year = "2019",

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doi = "10.1109/ROBIO.2018.8664717",

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booktitle = "2018 IEEE International Conference on Robotics and Biomimetics (ROBIO 2018)",

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address = "United States",

note = "2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018 ; Conference date: 12-12-2018 Through 15-12-2018",

}

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.., 8664717, Institute of Electrical and Electronics Engineers (IEEE), pp. 2473-2478, 2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018, Kuala Lumpur, Malaysia, 12/12/18. https://doi.org/10.1109/ROBIO.2018.8664717

ContinuumEA: A soft continuum electroadhesive manipulator. / Xiang, Chaoqun; Guo, Jianglong; Rossiter, Jonathan.
2018 IEEE International Conference on Robotics and Biomimetics (ROBIO 2018): Proceedings of a meeting held 12-15 December 2018, Kuala Lumpur, Malaysia.. Institute of Electrical and Electronics Engineers (IEEE), 2019. p. 2473-2478 8664717.

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

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AU - Xiang, Chaoqun

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N2 - 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.

AB - 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.

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ContinuumEA: A soft continuum electroadhesive manipulator

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