Characterizing Continuous Manipulation Families for Dexterous Soft Robot Hands.

ABSTRACT: There has been an explosion of ideas in soft robotics over the past decade, resulting in unprecedented opportunities for end effector design. Soft robot hands offer benefits of low-cost, compliance, and customized design, with the promise of dexterity and robustness. The space of opportunities is vast and exciting. However, new tools are needed to understand the capabilities of such manipulators and to facilitate manipulation planning with soft manipulators that exhibit free-form deformations. To address this challenge, we introduce a sampling based approach to discover and model continuous families of manipulations for soft robot hands. We give an overview of the soft foam robots in production in our lab and describe novel algorithms developed to characterize manipulation families for suc

SUBMITTER: Sun J 

PROVIDER: S-EPMC8077230 | biostudies-literature | 2021

REPOSITORIES: biostudies-literature