In-hand Manipulation Exploiting Bending and Compression Deformations of Caterpillar-Locomotion-Inspired Fingers
Tomoya Onodera,Noriyasu Iwamoto,Takuya Umedachi,Tomoya Onodera,Noriyasu Iwamoto,Takuya Umedachi
This paper presents a novel method of realizing in-hand manipulation inspired by the peristaltic motion of a large-sized caterpillar. The sharp contrast between the proposed soft-bodied finger and the conventional hard/rigid robotic ones is peristaltic motion with compression and bending deformations. The design is based on the biological fact that large-size caterpillars (e.g., Bombyx mori) utili...
