The Xeno-Tongue Gripper: Granular Jamming Suction Cup with Bellow-Driven Self-Morphing
2023 IEEE International Conference on Soft Robotics (RoboSoft)(2023)
摘要
Soft grippers have demonstrated significant improvements in grasping in unstructured environments and grasping delicate objects. However, there are limitations preventing more widespread real-world use, from low holding force, high control complexity in diverse object sets, and challenges picking in clutter and more. We present a soft adaptive suction cup design-featuring a morphing granular jamming cup augmented by a suction-based ‘Xeno-Tongue’-which can pick and handle diverse objects under a variety of environmental constraints, or lack of. The gripper combines soft suction with an in-built pulling mechanism, i.e., the tongue provides active pulling for automatic suction cup shape adaptation to objects independent of the surrounding environment. We characterise and predict the grasping performance on a series of benchmarking surfaces. Additionally, grasping real-world objects, in clutter and a simulated harvesting environment, using an unmodified control strategy demonstrates adaptability and agility for rapid application in agriculture and other industries.
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