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RoboSoft Layouts: (A) Layout of RoboSoft 2021 with four tasks of lifting a heavy, smooth-skinned fruit - watermelon, handling a small, delicate fruit - berry, picking up a coin on a hard surface, inserting the coin into the coin slot; (B) Gripper used in RoboSoft 2021 consisting of active palm for aperture control, suction cup for increased payload capacity and nails at fingertips for flat items; (C) Layout of RoboSoft 2022 for sorting items in Subspace A to Subspace B with three tasks of picking of three objects (grape, coke can, marshmallow) from Subspace A and placing them in a collecting basket in Subspace B; picking of two plant pots from Subspace A and placing them on two shelves in Subspace B; picking a wine bottle from Subspace A and pouring a dram of liquid into the glass in Subspace B along with picking up the glass and placing it on a coaster after safely placing the bottle back on the table; (D) Gripper used in RoboSoft 2022 consisting of 3D printed rigid palm with fixed aperture to avoid vibrations and spillage while handling wine and a suction cup for stable grasps; (E) Layout of RoboSoft 2023 with the task of assembling two food trays by picking the food items on shelves and bottle of orange juice from a source table to specific containers on the trays kept on an assembly table; (F) Gripper used in RoboSoft 2023 consisting of smaller fingers and active palm for fitting into limited shelf space, sensors integrated at finger tips for force control and slip detection and a hook shaped nail for scooping noodles.
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SUTD
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