TL;DR
A novel solution that integrates an active surface with underactuated compliance to achieve stable grasping of thin objects without complex control is proposed and can reliably complete long sequential “grasp-place” tasks.
Robotic grippers face substantial challenges in grasping and manipulating thin objects. Most existing grippers rely on highly precise approach and grasp motions, which limits robustness and reduces applicability. This paper explores thin-object grasping using books as a representative example. Here, we propose a novel...
This paper presents a grasping model for cloth manipulation specifically tailored to ease the deployment of robotic control methods. The model is robust, fast and easy to implement avoiding at the same time contact and friction considerations between the gripper and the cloth in favor of simple positional constraints....
Robot in-hand manipulation is vital for dexterity, but it presents key challenges to stably manipulate objects with varying sizes and shapes while perceiving real-time contact states. Dexterous hands offer precision but are complex and expensive, whereas underactuated hands are simple but lack active dexterity and real...
Robotic manipulation has increasingly pursued human-like dexterous hands with many articulated degrees of freedom, offering rich manipulation capabilities at the cost of mechanical and control complexity. At the other extreme, parallel grippers are simple and robust, but provide little ability to manipulate an object a...
Robust grasping of everyday objects remains challenging for parallel-jaw grippers, particularly when handling sloped or asymmetric items that induce torque-driven rolling and shear slip. These challenges become even more severe in domestic environments such as kitchens, where objects are often wet or submerged, drastic...
A geometry-aware force/torque-based contact estimation method for a coarse position-controlled gripper, combined with an adaptive admittance controller for safe grasp acquisition, that enables compliant and stable grasps while avoiding excessive forces is presented.
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