ROBOT FOR GRIPPING AN OBJECT USING DUAL FINGERS AND OBJECT GRIP METHOD THEREOF

Smart overview of the Invention

A robot is designed with dual fingers, each equipped with specific components to facilitate object gripping. Each finger consists of a contact part, a light emitter, a camera, and a polarization filter. The light emitters radiate light toward their respective contact parts, while the cameras capture images of these parts. The polarization filters allow only certain polarized light to pass through based on applied voltage, enabling enhanced detection capabilities.

Movement and Control Mechanism

A driver mechanism enables the movement of both fingers. The robot's operation is controlled by a processor that connects to the light emitters, cameras, polarization filters, and the driver. This processor is tasked with obtaining images from both cameras and determining the presence of an object between the fingers. Based on this information, it directs the fingers to grip the object while maintaining specific distance parameters.

Image Processing and Object Detection

The processor utilizes images captured by the cameras to assess distances between the contact parts and the object. It adjusts the activation state of the light emitters and polarization filters as needed to optimize visibility and detection. This mechanism allows for precise control over the gripping process, ensuring that the fingers adapt to the object's position and maintain appropriate distances throughout.

Advanced Features of Contact Parts

The contact parts of each finger may include gel materials embedded with markers, which assist in detecting contact with objects. The processor analyzes these markers' positions in captured images to confirm whether an object has been successfully gripped. Additionally, transparent or semi-transparent coating layers on these gels enhance functionality by improving visibility during operation.

Operational Methodology

The control method involves a sequence of steps where images are obtained from both fingers' cameras while managing the activation states of various components. The processor assesses whether an object is present between the contact parts by analyzing these images and determines if adjustments are needed for gripping. The entire process is designed to ensure efficient and effective interaction with objects, mimicking human-like dexterity in robotic applications.