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Beyond Soft Hands: Efficient Grasping With Non-Anthropomorphic Soft Grippers.
1Soft Transducers Laboratory, École Polytechnique Fédérale de Lausanne, Neuchâtel, Switzerland.
Frontiers in Robotics and AI
|July 26, 2021
Summary
Robotic grasping faces challenges with complex, human-like grippers. Soft, non-anthropomorphic grippers offer simpler, more adaptable solutions for diverse manipulation tasks.
Area of Science:
- Robotics
- Soft Robotics
- Mechanical Engineering
Background:
- Robotic grasping and manipulation are crucial for many applications.
- Human hand-inspired anthropomorphic grippers are complex and require intricate control.
- Soft fingers offer compliance but still face perception and control challenges.
Purpose of the Study:
- To examine the challenges of anthropomorphic robotic grippers.
- To describe emerging soft, non-anthropomorphic grasping methods.
- To propose research directions for non-anthropomorphic grippers.
Main Methods:
- Review of challenges in anthropomorphic grasping.
- Description of soft, non-anthropomorphic gripper techniques.
- Analysis of morphological deformation and adhesion mechanisms.
Main Results:
- Anthropomorphic grippers present significant control and perception complexities.
- Non-anthropomorphic soft grippers simplify grasping through deformation or adhesion.
- These methods reduce reliance on detailed object geometry knowledge.
Conclusions:
- Soft, non-anthropomorphic grippers can overcome limitations of traditional designs.
- These grippers offer potential for lower-cost, less complex robotic systems.
- Further research can expand robotic capabilities in logistics and manufacturing.
