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Selective fruit harvesting is a challenging manipulation problem due to occlusions and clutter arising from plant foliage. A harvesting gripper should i) have a small cross-section, to avoid collisions while approaching the fruit; ii) have…
We investigate the influence of particle stiffness on the grasping performance of granular grippers, a class of soft robotic effectors that utilize granular jamming for object manipulation. Through experimental analyses and X-ray imaging,…
External collisions to robot actuators typically pose risks to grasping circular objects. This work presents a vision-based sensing module capable of detecting collisions to maintain stable grasping with a soft gripper system. The system…
Compliant grippers, owing to adaptivity and safety, have attracted considerable attention for unstructured grasping in real applications, such as industrial or logistic scenarios. However, accurately modeling the bidirectional relationship…
Grasp synthesis for 3D deformable objects remains a little-explored topic, most works aiming to minimize deformations. However, deformations are not necessarily harmful -- humans are, for example, able to exploit deformations to generate…
Classical rigid-bodied robotic systems are presented with proven success in theoretical development and industrial applications, are recently challenged by the emergence of soft robotics due to a growing need in physical human-robot…
While soft robot manipulators offer compelling advantages over rigid counterparts, including inherent compliance, safe human-robot interaction, and the ability to conform to complex geometries, accurate forward modeling from low-dimensional…
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…
Flexible robots have advantages over rigid robots in their ability to conform physically to their environment and to form a wide variety of shapes. Sensing the force applied by or to flexible robots is useful for both navigation and…
We describe a novel three-finger robot hand that has high resolution tactile sensing along the entire length of each finger. The fingers are compliant, constructed with a soft shell supported with a flexible endoskeleton. Each finger…
While compliant grippers have become increasingly commonplace in robot manipulation, finding the right stiffness and geometry for grasping the widest variety of objects remains a key challenge. Adjusting both stiffness and gripper geometry…
Grasping is fundamental to robotic manipulation, and recent advances in large-scale grasping datasets have provided essential training data and evaluation benchmarks, accelerating the development of learning-based methods for robust object…
The engineering design of robotic grippers presents an ample design space for optimization towards robust grasping. In this paper, we adopt the reconfigurable design of the robotic gripper using a novel soft finger structure with…
Properly handling delicate produce with robotic manipulators is a major part of the future role of automation in agricultural harvesting and processing. Grasping with the correct amount of force is crucial in not only ensuring proper grip…
Application of soft and compliant joints in grasping mechanisms received an increasing attention during recent years. This article suggests the design and development of a novel bio-inspired compliant finger which is composed of a 3D…
Grasping, in both biological and engineered mechanisms, can be highly sensitive to the gripper and object morphology, as well as perception, and motion planning. Here we circumvent the need for feedback or precise planning by using an array…
Fine assembly tasks such as electrical connector insertion have tight tolerances and sensitive components, limiting the speed and robustness of robot assembly, even when using vision, tactile, or force sensors. Connector insertion is a…
Soft robots can safely interact with environments because of their mechanical compliance. Self-collision is also employed in the modern design of soft robots to enhance their performance during different tasks. However, developing an…
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…
Achieving human-like dexterity in robotic grippers remains an open challenge, particularly in ensuring robust manipulation in uncertain environments. Soft robotic hands try to address this by leveraging passive compliance, a characteristic…