Related papers: Variable-Grasping-Mode Gripper With Different Fing…
For robot arms to perform everyday tasks in unstructured environments, these robots must be able to manipulate a diverse range of objects. Today's robots often grasp objects with either soft grippers or rigid end-effectors. However, purely…
Recently, suction-based robotic systems with microscopic features or active suction components have been proposed to grip rough and irregular surfaces. However, sophisticated fabrication methods or complex control systems are required for…
Robotic manipulation with two-finger grippers is challenged by objects lacking distinct graspable features. Traditional pre-grasping methods, which typically involve repositioning objects or utilizing external aids like table edges, are…
Separating thin, flexible layers that must be individually grasped is a common but challenging manipulation primitive for most off-the-shelf grippers. A prominent example arises in clinical settings: the opening of sterile flat pouches for…
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,…
This work details the design of a novel two finger robot gripper with multiple Gelsight based optical-tactile sensors covering the inner surface of the hand. The multiple Gelsight sensors can gather the surface topology of the object from…
Grip surfaces with tunable friction can actively modify contact conditions, enabling transitions between higher- and lower-friction states for grasp adjustment. Friction can be increased to grip securely and then decreased to gently release…
Robotic manipulation of flexible objects is widely required in both industrial and service applications. Among such objects, paper-like materials exhibit distinct mechanical characteristics compared to cloth, being more sensitive to…
Grasping deformable objects with varying stiffness remains a significant challenge in robotics. Estimating the local stiffness of a target object is important for determining an optimal grasp pose that enables stable pickup without damaging…
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…
This paper presents a single-actuator passive gripper that achieves both stable grasping and continuous bidirectional in-hand rotation through mechanically encoded power transmission logic. Unlike conventional multifunctional grippers that…
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…
This paper develops a mechanical tool as well as its manipulation policies for 2-finger parallel robotic grippers. It primarily focuses on a mechanism that converts the gripping motion of 2-finger parallel grippers into a continuous…
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…
This paper presents a robotic in-hand manipulation technique that can be applied to pick an object too large to grasp in a prehensile manner, by taking advantage of its contact interactions with a curved, passive end-effector, and two flat…
This paper presents a novel cable-driven gripper with perception capabilities for autonomous harvesting of strawberries. Experiments show that the gripper allows for more accurate and faster picking of strawberries compared to existing…
In this paper we explore state-of-the-art underactuated, compliant robot gripper designs through looking at their performance on a generic grasping task. Starting from a state of the art open gripper design, we propose design…
Customized grippers have broad applications in industrial assembly lines. Compared with general parallel grippers, the customized grippers have specifically designed fingers to increase the contact area with the workpieces and improve the…
Inspired by widely used soft fingers on grasping, we propose a method of rigid-soft interactive learning, aiming at reducing the time of data collection. In this paper, we classify the interaction categories into Rigid-Rigid, Rigid-Soft,…
Precisely grasping an object is a challenging task due to pose uncertainties. Conventional methods have used cameras and fixtures to reduce object uncertainty. They are effective but require intensive preparation, such as designing jigs…