Related papers: TRIGGER: A Lightweight Universal Jamming Gripper f…
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…
This paper introduces a novel robotic gripper, named as the SPD gripper. It features a palm and two mechanically identical and symmetrically arranged fingers, which can be driven independently or by a single motor. The fingertips of the…
We present a novel under-actuated gripper with two 3-joint fingers, which realizes force feedback control by the deep learning technique- Long Short-Term Memory (LSTM) model, without any force sensor. First, a five-linkage mechanism stacked…
Soft robotic grippers are shown to be high effective for grasping unstructured objects with simple sensing and control strategies. However, they are still limited by their speed, sensing capabilities and actuation mechanism. Hence, their…
We test grip strength and shock absorption properties of various granular material in granular jamming robotic components. The granular material comprises a range of natural, manufactured, and 3D printed material encompassing a wide range…
The properties and applications of auxetics have been widely explored in the past years. Through proper utilization of auxetic structures, designs with unprecedented mechanical and structural behaviors can be produced. Taking advantage of…
An autonomous robotic nut tightening system for a serial manipulator equipped with a parallel gripper is proposed. The system features a hierarchical motion-primitive-based planner and a control-switching scheme that alternates between…
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…
Origami-inspired robotic grippers have shown promising potential for object manipulation tasks due to their compact volume and mechanical flexibility. However, robust capture of objects with random shapes in dynamic working environments…
This paper focuses on the spacecraft attitude control problem with intermittent actuator activation, taking into account the attitude rotation rate limitation and input saturation issue simultaneously. To address this problem, we first…
As roles for unmanned aerial vehicles (UAV) continue to diversify, the ability to sense and interact closely with the environment becomes increasingly important. Within this paper we report on the initial flight tests of a novel adaptive…
Contact-rich manipulation in unstructured environments demands precise, multimodal perception to enable robust and adaptive control. Vision-based tactile sensors (VBTSs) have emerged as an effective solution; however, conventional VBTSs…
Although the multi-jointed underactuated manipulator is highly dexterous, its grasping capacity does not match that of the parallel jaw gripper. This work introduces a fractal gripper to enhance the grasping capacity of multi-joint…
In the robotic crop harvesting environment, foreign objects intrusion in the gripper workspace is frequently occurring and unignorable, however, rarely addressed. This paper presents a novel intelligent robotic grasping method capable of…
In previous research, various types of aerial robots equipped with perching mechanisms have been developed to extend operational time. However, most existing perching methods adopt either an upward or downward approach, making it difficult…
Although wheeled robots have been predominant for planetary exploration, their geometry limits their capabilities when traveling over steep slopes, through rocky terrains, and in microgravity. Legged robots equipped with grippers are a…
Rapid aerial grasping through robots can lead to many applications that utilize fast and dynamic picking and placing of objects. Rigid grippers traditionally used in aerial manipulators require high precision and specific object geometries…
Over the past decades, progress in deployable autonomous flight systems has slowly stagnated. This is reflected in today's production air-crafts, where pilots only enable simple physics-based systems such as autopilot for takeoff, landing,…
Robot arms that assist humans should be able to pick up, move, and release everyday objects. Today's assistive robot arms use rigid grippers to pinch items between fingers; while these rigid grippers are well suited for large and heavy…
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…