Implementation Study of an Adhesion Hand with Stefan Adhesion

Shoi Higa; Yuki Inoue

doi:10.20965/jrm.2023.p1101

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JRM Vol.35 No.4 pp. 1101-1108

doi: 10.20965/jrm.2023.p1101

(2023)

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Implementation Study of an Adhesion Hand with Stefan Adhesion

Shoi Higa and Yuki Inoue

Osaka Institute of Technology
1-45 Chayamachi, Kita-ku, Osaka 530-8568, Japan

Received:

July 27, 2022

Accepted:

March 23, 2023

Published:

August 20, 2023

Keywords:

life support robot, adhesion hand

Abstract

The field of robotics involves extensive knowledge and skills related to numerous fields, and the World Robot Summit benchmarks technical skills in service robotics through competition. While grasping and moving a wide variety of objects, we examine a new method for handling objects using a suction mechanism. Notably, the proposed mechanism utilizes the adhesion force resulting from Stefan adhesion, which occurs when a solid plate detaches from a smooth surface. Experiments are conducted to evaluate the performance of the adhesion hand, and the obtained results demonstrate its effectiveness.

Stefan adhesion hand attached to the HSR

Cite this article as:

S. Higa and Y. Inoue, “Implementation Study of an Adhesion Hand with Stefan Adhesion,” J. Robot. Mechatron., Vol.35 No.4, pp. 1101-1108, 2023.

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References

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[7] P. William, “Gas-Lubricated Vibration-Based Adhesion for Robotics,” Advanced Intelligent Systems, Vol.3, Issue 7, Article No.2100001, 2021. https://doi.org/10.1002/aisy.202100001
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This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

[1] [1] L. Contreras, T. Yamamoto, Y. Matusaka, and H. Okada, “Towards general purpose service robots: World Robot Summit – Partner Robot Challenge,” Advanced Robotics, Vol.36, Issue 17-18, pp. 812-824, 2022. https://doi.org/10.1080/01691864.2022.2109428

[2] [2] T. Yamamoto et al., “Development of the Research Platform of a Domestic Mobile Manipulator Utilized for International Competition and Field Test,” IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS) 2018, pp. 7675-7682, 2018. https://doi.org/10.1109/IROS.2018.8593798

[3] [3] T. Yamamoto, K. Terada, A. Ochiai et al., “Development of Human Support Robot as the research platform of a domestic mobile manipulator,” Robomech J., Vol.6, Article No.4, 2019. https://doi.org/10.1186/s40648-019-0132-3

[4] [4] B. Calli, A. Walsman, A. Singh, S. Srinivasa, P. Abbeel, and A. M. Dollar, “Benchmarking in Manipulation Research: The YCB Object and Model Set and Benchmarking Protocols,” IEEE Robotics and Automation Magazine, Vol.22, Issue 3, pp. 36-52, 2015. https://doi.org/10.1109/MRA.2015.2448951

[5] [5] B. Calli, A. Singh, J. Bruce, A. Walsman, K. Konolige, S. Srinivasa, P. Abbeel, and A. M. Dollar, “Yale-CMU-Berkeley dataset for robotic manipulation research,” The Int. J. of Robotics Research, Vol.36, Issue 3, pp. 261-268, 2017. https://doi.org/10.1177/0278364917700714

[6] [6] B. Calli, A. Singh, A. Walsman, S. Srinivasa, P. Abbeel, and A. M. Dollar, “The YCB Object and Model Set: Towards Common Benchmarks for Manipulation Research,” Proc. of the 2015 IEEE Int. Conf. on Advanced Robotics (ICAR), Istanbul, Turkey, 2015. https://doi.org/10.1109/ICAR.2015.7251504

[7] [7] P. William, “Gas-Lubricated Vibration-Based Adhesion for Robotics,” Advanced Intelligent Systems, Vol.3, Issue 7, Article No.2100001, 2021. https://doi.org/10.1002/aisy.202100001

[8] [8] N. Wada, “Friction Test Methods for Rubber Friction,” J. of the Society of Rubber Science and Technology Japan, Vol.70, No.4, pp. 172-180, 1997. https://doi.org/10.2324/gomu.70.172