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In this paper, we propose a single-actuator gripper that can lift thin objects lying on a flat surface, in addition to the ability as a standard parallel gripper. The key is a crawler on the fingertip, which is underactuated together with…
The rise in additive manufacturing comes with unique opportunities and challenges. Massive part customization and rapid design changes are made possible with additive manufacturing, however, manufacturing industries that desire the…
Grasping deformable objects is not well researched due to the complexity in modelling and simulating the dynamic behavior of such objects. However, with the rapid development of physics-based simulators that support soft bodies, the…
Rigid grippers used in existing aerial manipulators require precise positioning to achieve successful grasps and transmit large contact forces that may destabilize the drone. This limits the speed during grasping and prevents "dynamic…
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…
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…
The human hand has an inherent ability to manipulate and re-orientate objects without external assistance. As a consequence, we are able to operate tools and perform an array of actions using just one hand, without having to continuously…
Robotic grasping and manipulation in underwater environments present unique challenges for robotic hands traditionally used on land. These challenges stem from dynamic water conditions, a wide range of object properties from soft to stiff,…
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 presents a passive control method for multiple degrees of freedom in a soft pneumatic robot through the combination of flow resistor tubes with series inflatable actuators. We designed and developed these 3D printed resistors…
Automation in the life science research laboratory is a paradigm that has gained increasing relevance in recent years. Current robotic solutions often have a limited scope, which reduces their acceptance and prevents the realization of…
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…
Measuring grasp stability is an important skill for dexterous robot manipulation tasks, which can be inferred from haptic information with a tactile sensor. Control policies have to detect rotational displacement and slippage from tactile…
This work proposes a novel generative design tool for passive grippers -- robot end effectors that have no additional actuation and instead leverage the existing degrees of freedom in a robotic arm to perform grasping tasks. Passive…
Multi-suction-cup grippers are frequently employed to perform pick-and-place robotic tasks, especially in industrial settings where grasping a wide range of light to heavy objects in limited amounts of time is a common requirement. However,…
This study proposes a novel robotic gripper with variable grasping configurations for grasping various objects. The fingers of the developed gripper incorporate multiple different surfaces. The gripper possesses the function of altering the…
Fast grasping is critical for mobile robots in logistics, manufacturing, and service applications. Existing methods face fundamental challenges in impact stabilization under high-speed motion, real-time whole-body coordination, and…
Soft robotic grasping has rapidly spread through the academic robotics community in recent years and pushed into industrial applications. At the same time, multimaterial 3D printing has become widely available, enabling the monolithic…
Reliable robotic grasping, especially with deformable objects such as fruits, remains a challenging task due to underactuated contact interactions with a gripper, unknown object dynamics and geometries. In this study, we propose a…
We describe a force-controlled robotic gripper with built-in tactile and 3D perception. We also describe a complete autonomous manipulation pipeline consisting of object detection, segmentation, point cloud processing, force-controlled…