Related papers: A bistable soft gripper with mechanically embedded…
Grasping is an essential capability for most robots in practical applications. Soft robotic grippers are considered as a critical part of robotic grasping and have attracted considerable attention in terms of the advantages of the high…
Soft robots have a myriad of potentials because of their intrinsically compliant bodies, enabling safe interactions with humans and adaptability to unpredictable environments. However, most of them have limited actuation speeds, require…
Conventional fluid-driven soft grippers typically depend on external sources, which limit portability and long-term autonomy. This work introduces a self-contained soft gripper with fixed size that operates solely through internal liquid…
Endowing robots with tactile capabilities opens up new possibilities for their interaction with the environment, including the ability to handle fragile and/or soft objects. In this work, we equip the robot gripper with low-cost…
Over the past few decades, efforts have been made towards robust robotic grasping, and therefore dexterous manipulation. The soft gripper has shown their potential in robust grasping due to their inherent properties-low, control complexity,…
Robot grasping is subject to an inherent tradeoff: Grippers with a large span typically take a longer time to close, and fast grippers usually cover a small span. However, many practical applications of soft grippers require the ability to…
Grasping using an aerial robot can have many applications ranging from infrastructure inspection and maintenance to precise agriculture. However, aerial grasping is a challenging problem since the robot has to maintain an accurate position…
A key challenge in robotics is to create efficient methods for grasping objects with diverse shapes, sizes, poses, and properties. Grasping with hand-like end effectors often requires careful selection of hand orientation and finger…
We propose a novel tri-fingered soft robotic gripper with decoupled stiffness and shape control capability for performing adaptive grasping with minimum system complexity. The proposed soft fingers adaptively conform to object shapes…
Grasping object,whether they are flat, round, or narrow and whether they have regular or irregular shapes,introduces difficulties in determining the ideal grasping posture, even for the most state-of-the-art grippers. In this article, we…
Manipulation in cluttered environments like homes requires stable grasps, precise placement and robustness against external contact. We present the Soft-Bubble gripper system with a highly compliant gripping surface and dense-geometry…
Soft robots are powerful tools for manipulating delicate objects, yet their adoption is hindered by two gaps: the lack of integrated tactile sensing and sensor signal distortion caused by actuator deformations. This paper addresses these…
Soft robotic grippers demonstrate great potential for gently and safely handling objects; however, their full potential for executing precise and secure grasping has been limited by the lack of integrated sensors, leading to problems such…
Modern humanoid robots have shown their promising potential for executing various tasks involving the grasping and manipulation of objects using their end-effectors. Nevertheless, in the most of the cases, the grasping and manipulation…
In this paper, design and development of a sensor integrated adaptive gripper is presented. Adaptive grippers are useful for grasping objects of varied geometric shapes by wrapping fingers around the object. The finger closing sequence in…
Soft robots are intrinsically capable of adapting to different environments by changing their shape in response to interaction forces with the environment. However, sensing and feedback are still required for higher level decisions and…
Soft grippers, for stable grasping of objects, with high compliance could be considered a suitable candidate for replacement of conventional rigid grippers, and in recent years, they have been emerging exponentially in industries. Not only…
Soft and lightweight grippers have greatly enhanced the performance of robotic manipulators in handling complex objects with varying shape, texture, and stiffness. However, the combination of universal grasping with passive sensing…
Grasping objects with diverse mechanical properties, such as heavy, slippery, or fragile items, remains a significant challenge in robotics. Conventional rigid grippers typically rely on increasing the normal forces to secure an object,…
Regulating grasping force to reduce slippage during dynamic object interaction remains a fundamental challenge in robotic manipulation, especially when objects are manipulated by multiple rolling contacts, have unknown properties (such as…