Thuruthel, TG;
Haider Abidi, S;
Cianchetti, M;
Laschi, C;
Falotico, E;
(2020)
A bistable soft gripper with mechanically embedded sensing and actuation for fast grasping.
In:
Proceedings of the 29th IEEE International Conference on Robot and Human Interactive Communication, RO-MAN 2020.
(pp. pp. 1049-1054).
IEEE
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Abstract
Soft robotic grippers are shown to be high effective for grasping unstructured objects with simple sensing and control strategies. However, they are still limited by their speed, sensing capabilities and actuation mechanism. Hence, their usage have been restricted in highly dynamic grasping tasks. This paper presents a soft robotic gripper with tunable bistable properties for sensor-less dynamic grasping. The bistable mechanism allows us to store arbitrarily large strain energy in the soft system which is then released upon contact. The mechanism also provides flexibility on the type of actuation mechanism as the grasping and sensing phase is completely passive. Theoretical background behind the mechanism is presented with finite element analysis to provide insights into design parameters. Finally, we experimentally demonstrate sensor-less dynamic grasping of an unknown object within 0.02 seconds, including the time to sense and actuate.
| Type: | Proceedings paper |
|---|---|
| Title: | A bistable soft gripper with mechanically embedded sensing and actuation for fast grasping |
| Event: | The 29th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN) 2020 |
| Dates: | 31st August - 4th September 2020 |
| ISBN-13: | 978-1-7281-6075-7 |
| Open access status: | An open access version is available from UCL Discovery |
| DOI: | 10.1109/RO-MAN47096.2020.9223487 |
| Publisher version: | https://doi.org/10.1109/RO-MAN47096.2020.9223487 |
| Language: | English |
| Additional information: | This version is the author accepted manuscript. For information on re-use, please refer to the publisher's terms and conditions. |
| UCL classification: | UCL UCL > Provost and Vice Provost Offices > UCL BEAMS UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Computer Science |
| URI: | https://discovery.ucl.ac.uk/id/eprint/10159937 |
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