Robust capture of unknown objects with a highly under-actuated gripper
Paul E. Glick,Nikko Van Crey,Michael T. Tolley,Donald Ruffatto,Paul E. Glick,Nikko Van Crey,Michael T. Tolley,Donald Ruffatto
Capturing large objects of unknown shape and orientation remains a challenge for most robotic grippers. We present a highly under-actuated gripper well suited for this task. Prior work shows two primary limitations to these grippers: the grip force of each link tends to decrease as the number of links increases, and the stability of an under-actuated linkage depends on the configuration of the lin...
