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Grasping has long been considered an important and practical task in robotic manipulation. Yet achieving robust and efficient grasps of diverse objects is challenging, since it involves gripper design, perception, control and learning, etc.…

This study presents an innovative offset-trimmed helicoids (OTH) structure, featuring a tunable deformation center that emulates the flexibility of human fingers. This design significantly reduces the actuation force needed for larger…

Grasping an unknown object is difficult for robot hands. When the characteristics of the object are unknown, knowing how to plan the speed at and width to which the fingers are narrowed is difficult. In this paper, we propose a method to…

We developed a new grip force measurement concept that allows for embedding tactile stimulation mechanisms in a gripper. This concept is based on a single force sensor to measure the force applied on each side of the gripper, and it…

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…

For robot arms to perform everyday tasks in unstructured environments, these robots must be able to manipulate a diverse range of objects. Today's robots often grasp objects with either soft grippers or rigid end-effectors. However, purely…

This paper presents the technique of flex-and-flip manipulation. It is suitable for grasping thin, flexible linear objects lying on a flat surface. During the manipulation process, the object is first flexed by a robotic gripper whose…

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…

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…

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…

Soft robotic grippers gently and safely manipulate delicate objects due to their inherent adaptability and softness. Limited by insufficient stiffness and imprecise force control, conventional soft grippers are not suitable for applications…

Robotic grippers are the end effector in the robot system of handling any task which used for performing various operations for the purpose of industrial application and hazardous tasks.In this paper, we developed the mathematical model for…

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…

We present a new approach to robot hand design specifically suited for successfully implementing robot learning methods to accomplish tasks in daily human environments. We introduce BaRiFlex, an innovative gripper design that alleviates the…

This paper presents a serial chain hinge support, a rigid but flexible structure that improves the mechanical performance and robustness of soft-fingered grippers. Gravity can reduce the integrity of soft fingers in horizontal approach,…

Current agriculture and farming industries are able to reap advancements in robotics and automation technology to harvest fruits and vegetables using robots with adaptive grasping forces based on the compliance or softness of the fruit or…

We present a holistic grasping controller, combining free-space position control and in-contact force-control for reliable grasping given uncertain object pose estimates. Employing tactile fingertip sensors, undesired object displacement…

Detecting and preventing slip is a major challenge in robotic hand operation, underpinning the robot's ability to perform safe and reliable grasps. Using the robotic hand design from the authors' earlier work, a sensing and control strategy…

This paper presents a soft robot finger capable of adaptive-twist deformation to grasp objects by wrapping them. For a soft hand to grasp and pick-up one object from densely contained multiple objects, a soft finger requires the…

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…