Replaceable Bit-based Gripper for Picking Cluttered Food Items
Fuente:
arXiv
Guardado en:
| Autores principales: | , , , |
|---|---|
| Formato: | Preprint |
| Publicado: |
2026
|
| Materias: | |
| Acceso en línea: | |
| Etiquetas: |
Agregar Etiqueta
Sin Etiquetas, Sea el primero en etiquetar este registro!
|
| _version_ | 1866917179921793024 |
|---|---|
| author | Kumar, Prashant Domae, Yukiyasu Wan, Weiwei Harada, Kensuke |
| author_facet | Kumar, Prashant Domae, Yukiyasu Wan, Weiwei Harada, Kensuke |
| contents | The food packaging industry goes through changes in food items and their weights quite rapidly. These items range from easy-to-pick, single-piece food items to flexible, long and cluttered ones. We propose a replaceable bit-based gripper system to tackle the challenge of weight-based handling of cluttered food items. The gripper features specialized food attachments(bits) that enhance its grasping capabilities, and a belt replacement system allows switching between different food items during packaging operations. It offers a wide range of control options, enabling it to grasp and drop specific weights of granular, cluttered, and entangled foods. We specifically designed bits for two flexible food items that differ in shape: ikura(salmon roe) and spaghetti. They represent the challenging categories of sticky, granular food and long, sticky, cluttered food, respectively. The gripper successfully picked up both spaghetti and ikura and demonstrated weight-specific dropping of these items with an accuracy over 80% and 95% respectively. The gripper system also exhibited quick switching between different bits, leading to the handling of a large range of food items. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2601_00305 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | Replaceable Bit-based Gripper for Picking Cluttered Food Items Kumar, Prashant Domae, Yukiyasu Wan, Weiwei Harada, Kensuke Robotics The food packaging industry goes through changes in food items and their weights quite rapidly. These items range from easy-to-pick, single-piece food items to flexible, long and cluttered ones. We propose a replaceable bit-based gripper system to tackle the challenge of weight-based handling of cluttered food items. The gripper features specialized food attachments(bits) that enhance its grasping capabilities, and a belt replacement system allows switching between different food items during packaging operations. It offers a wide range of control options, enabling it to grasp and drop specific weights of granular, cluttered, and entangled foods. We specifically designed bits for two flexible food items that differ in shape: ikura(salmon roe) and spaghetti. They represent the challenging categories of sticky, granular food and long, sticky, cluttered food, respectively. The gripper successfully picked up both spaghetti and ikura and demonstrated weight-specific dropping of these items with an accuracy over 80% and 95% respectively. The gripper system also exhibited quick switching between different bits, leading to the handling of a large range of food items. |
| title | Replaceable Bit-based Gripper for Picking Cluttered Food Items |
| topic | Robotics |
| url | https://arxiv.org/abs/2601.00305 |