Grant: Collaborative Research and Development Grants

This project aims to develop intelligent solutions for effective, flexible and adaptive task performance with tools or parts held by a robot using a versatile gripper, thereby leading the way to a new generation of robotic systems. The solutions developed will include the capability to properly grasp or regrasp objects or tools, to determine the feasibility of a given task with a given grasp, to plan regrasping trajectories if required, to adapt to changes in the environment and to effectively perform tasks that may require position, force or hybrid control capabilities. To this end, two new concepts of robotic hands will be developed and built. One of the hands will be designed to manipulate common industrial objects or tools while the other will be based on an anthropomorphic approach. Multi-modal tactile sensing components with extended capabilities will also be developed and integrated into the robotic hands. These sensors will be capable of detecting objects grasped, vibrations induced by contacts with the environment and other stimuli. Signal processing techniques will be developed in order to transform the sensor outputs into high-level information that can be used in a grasping and task performance scenario. For example, the robot will be capable to determine whether a given task can be performed with a tool based on the pose of the grasped tool and to plan regrasping maneuvers if required, thereby greatly improving the flexibility, adaptability and autonomy of robotic manipulators. Also, a force/torque sensor will be developed in order to provide an effective means of determining the external loads and guide the tasks accordingly. Finally, all results will be integrated into functional prototypes that will be used to produce convincing industry-relevant demonstrations of the solutions developed. More flexible and adaptable robots have the potential to rewrite the rules of manufacturing automation by opening new possibilities such as fully automated small series, autonomous agile manufacturing, reliable automatic quality control, and many others. These capabilities are in great need in the Canadian manufacturing industry.