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Soft grippers are gaining momentum across applications due to their flexibility and dexterity. However, the infinite-dimensionality and non-linearity associated with soft robots challenge modeling and closed-loop control of soft grippers to…
Soft grippers have excellent adaptability for a variety of objects and tasks. Jamming-based variable stiffness materials can further increase soft grippers' gripping force and capacity. Previous universal grippers enabled by granular…
The ability to perform in-hand manipulation still remains an unsolved problem; having this capability would allow robots to perform sophisticated tasks requiring repositioning and reorienting of grasped objects. In this work, we present a…
For successful object manipulation with robotic hands, it is important to ensure that the object remains in the grasp at all times. In addition to grasp constraints associated with slipping and singular hand configurations, excessive…
Soft robotic grippers gently and safely manipulate delicate objects due to their inherent adaptability and softness. Limited by insufficient stiffness and imprecise force control, conventional soft grippers are not suitable for applications…
Soft robots, made from compliant materials, exhibit complex dynamics due to their flexibility and high degrees of freedom. Controlling soft robots presents significant challenges, particularly underactuation, where the number of inputs is…
Planar sliding of objects is modeled and analyzed. The model can be used for non-prehensile manipulation of objects lying on a surface. We study possible motions generated by frictional contacts, such as those arising between a soft finger…
This paper proposes a controller for stable grasping of unknown-shaped objects by two robotic fingers with tactile fingertips. The grasp is stabilised by rolling the fingertips on the contact surface and applying a desired grasping force to…
We investigate optimal reachability and grasping problems for a planar soft manipulator, from both a theoretical and numerical point of view. The underlying control model describes the evolution of the symmetry axis of the device, which is…
Robotic manipulation has made significant advancements, with systems demonstrating high precision and repeatability. However, this remarkable precision often fails to translate into efficient manipulation of thin deformable objects. Current…
Granular jamming has recently become popular in soft robotics with widespread applications including industrial gripping, surgical robotics and haptics. Previous work has investigated the use of various techniques that exploit the nature of…
Contrary to the stunning feats observed in birds of prey, aerial manipulation and grasping with flying robots still lack versatility and agility. Conventional approaches using rigid manipulators require precise positioning and are subject…
This study proposes a novel robotic gripper with variable grasping configurations for grasping various objects. The fingers of the developed gripper incorporate multiple different surfaces. The gripper possesses the function of altering the…
Manipulating fragile objects in environments such as homes and factories requires stable and gentle grasping along with precise and safe placement. Compared to traditional rigid grippers, the use of soft grippers reduces the control…
Soft robots manufactured with flexible materials can be highly compliant and adaptive to their surroundings, which facilitates their application in areas such as dexterous manipulation and environmental exploration. This paper aims at…
We propose a robotic manipulation system that can pivot objects on a surface using vision, wrist force and tactile sensing. We aim to control the rotation of an object around the grip point of a parallel gripper by allowing rotational slip,…
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…
The development of robotic grippers is driven by the need to execute particular manual tasks or meet specific objectives in handling operations. Grippers with specific functions vary from being small, accurate and highly controllable such…
This study proposed a novel robotic gripper that can achieve grasping and infinite wrist twisting motions using a single actuator. The gripper is equipped with a differential gear mechanism that allows switching between the grasping and…
Robotic hands with soft surfaces can perform stable grasping, but the high friction of the soft surfaces makes it difficult to release objects, or to perform operations that require sliding. To solve this issue, we previously developed a…