DexGrip: Multi-modal Soft Gripper with Dexterous Grasping and In-hand Manipulation Capacity

The ability of robotic grippers to not only grasp but also re-position and re-orient objects in-hand is crucial for achieving versatile, general-purpose manipulation. While recent advances in soft robotic grasping has greatly improved grasp quality and stability, their manipulation capabilities rema...

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Bibliographic Details
Published in:arXiv.org 2024-11
Main Authors: Wang, Xing, Horrigan, Liam, Pinskier, Josh, Shi, Ge, Viswanathan, Vinoth, Liow, Lois, Bandyopadhyay, Tirthankar, Chung, Jen Jen, Howard, David
Format: Article
Language:English
Subjects:
Grasping (robotics)
Grippers
Soft robotics
Suction
Online Access:Get full text
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Summary:The ability of robotic grippers to not only grasp but also re-position and re-orient objects in-hand is crucial for achieving versatile, general-purpose manipulation. While recent advances in soft robotic grasping has greatly improved grasp quality and stability, their manipulation capabilities remain under-explored. This paper presents the DexGrip, a multi-modal soft robotic gripper for in-hand grasping, re-orientation and manipulation. DexGrip features a 3 Degrees of Freedom (DoFs) active suction palm and 3 active (rotating) grasping surfaces, enabling soft, stable, and dexterous grasping and manipulation without ever needing to re-grasp an object. Uniquely, these features enable complete 360 degree rotation in all three principal axes. We experimentally demonstrate these capabilities across a diverse set of objects and tasks. DexGrip successfully grasped, re-positioned, and re-oriented objects with widely varying stiffnesses, sizes, weights, and surface textures; and effectively manipulated objects that presented significant challenges for existing robotic grippers.
ISSN:2331-8422