High-speed Hitting Grasping with Magripper, a Highly Backdrivable Gripper using Magnetic Gear and Plastic Deformation Control
Satoshi Tanaka,Keisuke Koyama,Taku Senoo,Makoto Shimojo,Masatoshi Ishikawa,Satoshi Tanaka,Keisuke Koyama,Taku Senoo,Makoto Shimojo,Masatoshi Ishikawa
In this study, Magripper, a highly backdrivable gripper, is developed to achieve high-speed hitting grasping executed seamlessly from reaching. The gripper is designed to achieve both high speed and environmental adaptability. The key element is backdrivability in terms of both hardware and control. In Magripper, a magnetic gear is introduced to passively absorb shock in the moment of contact as a...
