Related papers: Vibration Improves Performance in Granular Jamming…
Able to grasp objects of any shape and size, universal grippers using variable stiffness phenomenon such as granular jamming have been developed for disaster robotics application. However, as their contact interface is mainly composed of…
We present experimental results of the jamming of non-cohesive particles discharged from a flat bottomed silo subjected to vertical vibration. When the exit orifice is only a few grain diameter wide, the flow can be arrested due to the…
High-frequency micrometrical vibrations have been shown to greatly influence the adhesive performance of soft interfaces, however a detailed comparison between theoretical predictions and experimental results is still missing. Here, the…
This work introduces TRIGGER, the first lighTweight univeRsal jammInG Gripper for aErial gRasping. TRIGGER is an omnidirectional, landing-capable aerial grasping system with resilience and robustness to collisions and inherent passive…
By means of two-dimensional contact dynamics simulations, we analyze the vibrational dynamics of a confined granular layer in response to harmonic forcing. We use irregular polygonal grains allowing for strong variability of solid fraction.…
In this work, we investigate the unjamming transition in a three-dimensional granular system composed of frictional spheres, in which the packing fraction is systematically reduced by random particle extractions. Using Discrete Element…
Granular damping devices constitute an emerging technology for the attenuation of vibrations based on the dissipative nature of particle collisions. We show that the performance of such devices is independent of the material properties of…
We present an experimental study of the outflow of a hopper continuously vibrated by a piezoelectric device. Outpouring of grains can be achieved for apertures much below the usual jamming limit observed for non vibrated hoppers. Granular…
The response of an oscillating granular damper to an initial perturbation is studied using experiments performed in microgravity and granular dynamics mulations. High-speed video and image processing techniques are used to extract…
Granular dampers are systems used to attenuate undesired vibrations produced by mechanical devices. They consist of cavities filled by granular particles. In this work, we consider a granular damper filled with a binary mixture of…
Grasping a variety of objects remains a key challenge in the development of versatile robotic systems. The human hand is remarkably dexterous, capable of grasping and manipulating objects with diverse shapes, mechanical properties, and…
We use particle simulations to reveal two distinct propulsion mechanisms for a scallop-like swimmer to locomote itself in granular media by reciprocally flapping its wings. Based on the discrete element method, we examine the kinematics and…
Fruit harvesting has recently experienced a shift towards soft grippers that possess compliance, adaptability, and delicacy. In this context, pneumatic grippers are popular, due to provision of high deformability and compliance, however…
We investigate experimentally the dynamics of an intruder dragged by a constant force in an assembly of horizontally vibrated grains close to jamming. At moderate packing fractions, the intruder moves rapidly as soon as the force is…
Universal jamming grippers excel at grasping unknown objects due to their compliant bodies. Traditional tactile sensors can compromise this compliance, reducing grasping performance. We present acoustic sensing as a form of morphological…
Regrasping on fixtures is a promising approach to reduce pose uncertainty in robotic assembly, but conventional rigid fixtures lack adaptability and require dedicated designs for each part. To overcome this limitation, we propose a soft jig…
The perception and recognition of the surroundings is one of the essential tasks for a robot. With preliminary knowledge about a target object, it can perform various manipulation tasks such as rolling motion, palpation, and force control.…
Friction is the essential mediator of terrestrial locomotion, yet in robotic systems it is almost always treated as a passive property fixed by surface materials and conditions. Here, we introduce ultrasonic lubrication as a method to…
We report results of 3D Discrete Element Method (DEM) simulations aiming at investigating the role of the boundary vibration in inducing frictional weakening in sheared granular layers. We study the role of different vibration amplitudes…
We investigate the dynamic evolution of jamming in granular media through fluctuations in the granular drag force. The successive collapse and formation of jammed states give a stick-slip nature to the fluctuations which is independent of…