Enhanced robotic cleaning with a low-cost tool attachment

Xu, Z., & Cakmak, M. (2014). Enhanced robotic cleaning with a low-cost tool attachment. In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (pp. 2595–2601).

Abstract

Robots that can reliably manipulate human tools can do a diverse range of useful tasks in human environments. However, these tools are often difficult to manipulate, particularly given force requirements for applying the tool. This is often due to the mismatch between the robot’s gripper and the tool handle designed for human hands. In this paper, we present the design of a low-cost universal tool attachment that makes the tool gripper-friendly. We demonstrate the performance gain provided by the attachment on 10 different tools in the three stages of tool use: grasping the tool, applying the tool, and placing the tool. Our experiments demonstrate that the attachment performs significantly better in all three stages of tool use.

BibTeX Entry

@inproceedings{xu2014iros,
  title = {Enhanced robotic cleaning with a low-cost tool attachment},
  author = {Xu, Zhe and Cakmak, Maya},
  booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  pages = {2595--2601},
  year = {2014},
  video = {https://www.youtube.com/watch?v=wiZOTpRkB7Y}
}