Related papers: Under-actuated Robotic Gripper with Multiple Grasp…
Realizing high-performance soft robotic grippers is challenging because of the inherent limitations of the soft actuators and artificial muscles that drive them, including low force output, small actuation range, and poor compactness.…
Most robotic hands and grippers rely on actuators with large gearboxes and force sensors for controlling gripping force. However, this might not be ideal for tasks that require the robot to interact with an unstructured and unknown…
Endowing robots with tactile capabilities opens up new possibilities for their interaction with the environment, including the ability to handle fragile and/or soft objects. In this work, we equip the robot gripper with low-cost…
The number of sequential tasks a single gripper can perform is significantly limited by its design. In many cases, changing the gripper fingers is required to successfully conduct multiple consecutive tasks. For this reason, several robotic…
Grasping object,whether they are flat, round, or narrow and whether they have regular or irregular shapes,introduces difficulties in determining the ideal grasping posture, even for the most state-of-the-art grippers. In this article, we…
A shared grasp is a grasp formed by contacts between the manipulated object and both the robot hand and the environment. By trading off hand contacts for environmental contacts, a shared grasp requires fewer contacts with the hand, and…
The manipulation of garments poses research challenges due to their deformable nature and the extensive variability in shapes and sizes. Despite numerous attempts by researchers to address these via approaches involving robot perception and…
This paper is a summary of the recently accomplished research work on flexible gripping systems. The goal is to develop a gripper which can be used for a great amount of geometrically variant workpieces. The economic aspect is of particular…
This paper proposes a new variable stiffness soft gripper that enables high-performance grasping tasks in industrial applications. The design of the proposed monolithic soft gripper includes a middle bellow and two side bellows (i.e.,…
One of the trendsetting themes in soft robotics has been the goal of developing the ultimate universal soft robotic gripper. One that is capable of manipulating items of various shapes, sizes, thicknesses, textures, and weights. All the…
Humans grasp unfamiliar objects by combining an initial visual estimate with tactile and proprioceptive feedback during interaction. We present ShapeGrasp, a robotic implementation of this approach. The proposed method is an iterative…
Dexterous in-hand manipulation offers significant potential to enhance robotic manipulator capabilities. This paper presents a sensori-motor architecture for in-hand slip-aware control, being embodied in a sensorized gripper. The gripper in…
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…
Grasping is an incredible ability of animals using their arms and limbs in their daily life. The human hand is an especially astonishing multi-fingered tool for precise grasping, which helped humans to develop the modern world. The…
Current rigid linkage grippers are limited in flexibility, and gripper design optimality relies on expertise, experiments, or arbitrary parameters. Our proposed rigid gripper can accommodate irregular and off-center objects through a…
Soft pneumatic fingers are of great research interest. However, their significant potential is limited as most of them can generate only one motion, mostly bending. The conventional design of soft fingers does not allow them to switch to…
Grasp-based manipulation tasks are fundamental to robots interacting with their environments, yet gripper state ambiguity significantly reduces the robustness of imitation learning policies for these tasks. Data-driven solutions face the…
A problem that plagues robotic grasping is the misalignment of the object and gripper due to difficulties in precise localization, actuation, etc. Under-actuated robotic hands with compliant mechanisms are used to adapt and compensate 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…
This paper presents a shear-based control scheme for grasping and manipulating delicate objects with a Pisa/IIT anthropomorphic SoftHand equipped with soft biomimetic tactile sensors on all five fingertips. These `microTac' tactile sensors…