Paper Info
Title
Manipulation Task Simulation of a Soft Pneumatic Gripper Using ROS and Gazebo
Abstract
Bioinspired robotics have shown great advantages for manipulation tasks performing, compared to current rigid structure with limited degrees of freedom. And the research of pneumatic soft robotic grippers has flourished greatly in recent years. However, there is still no effective platform available for robotic manipulation task simulation when equipped with such a deformable gripper. This paper intends to demonstrate a simple but effective approach of how to create simulator of robotic system with soft gripper and implement robot control in a short time. Here we build this platform based on Robot Operation System (ROS) and Gazebo engine. First, we define an unified module description format for gripper configurations. Then, a dynamic model is formulated to control the action of each joints and gripper deformation after simulated pneumatic actuation. Finally, the entire simulation system including modeling, kinematics, control, and visualization is established. Experimental results from pick&place manipulation of several irregular objects have shown that the proposed simulation platform could achieve an easy configuration, good integration and functional visualization for task simulation of robotic system equipped with a soft pneumatic gripper, and provide a flexible technique for quick verification of prototype or algorithms in the research of soft robotics.
Year
DOI
Venue
2018
10.1109/RCAR.2018.8621702
2018 IEEE International Conference on Real-time Computing and Robotics (RCAR)
Keywords
Field
DocType
Soft robotics,pneumatic gripper,manipulation,simulation
Robot control,Kinematics,Computer science,Visualization,Simulation,Soft robotics,Artificial intelligence,Robot,Pneumatic gripper,Grippers,Robotics
Conference
ISBN
Citations 
PageRank 
978-1-5386-6870-2
0
0.34
References 
Authors
1
5
Name
Order
Citations
PageRank
Jun Chenl100.34
Hao Deng242.89
Wenjie Chai300.34
Jing Xiong4187.00
Zeyang Xia52812.04