Soft-bubble grippers for robust and perceptive manipulation
Naveen Kuppuswamy,Alex Alspach,Avinash Uttamchandani,Sam Creasey,Takuya Ikeda,Russ Tedrake,Naveen Kuppuswamy,Alex Alspach,Avinash Uttamchandani,Sam Creasey,Takuya Ikeda,Russ Tedrake
Manipulation in cluttered environments like homes requires stable grasps, precise placement and robustness against external contact. Towards addressing these challenges, we present the Soft-bubble gripper system that combines highly compliant gripping surfaces with dense-geometry visuotactile sensing and facilitates multiple kinds of tactile perception. We first present several mechanical design a...
