Universal grasping

  • Development of the robotic gripper with soft surface and underactuated joints.
  • With one actuator, three grasping mode, i.e., parallel gripper, pinching and enveloping, are realized by utilizing contact with an environment, such as a supporting surface.
  • The range of graspable objects is wide and included soft, rigid, deformable, fragile, small, large, thin and heavy objects
  • The grasping test for various 68 items was conducted to validate the gripper’s capability.

Toshihiro Nishimura, Kaori Mizushima, Yosuke Suzuki, Tokuo Tsuji, and Tetsuyou Watanabe, Variable-grasping-mode underactuated soft gripper with environmental contact-based operation, IEEE Robotics and Automation Letters, Vol.1, No.1, pp.415-422, 2016. (This paper is presented in ICRA (IEEE International Conference on Robotics and Automation) 2017) doi:10.1109/LRA.2017.2662086
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