Control and implementation of fluid-driven soft gripper with dynamic uncertainty of object

TL;DR

This paper investigates the control and implementation of a fluid-driven soft gripper capable of dynamic object manipulation despite uncertainties, advancing soft robotics for industrial applications.

Contribution

It introduces a novel control approach for fluid-driven soft grippers that handles dynamic object manipulation under uncertain conditions.

Findings

Successful demonstration of dynamic in-hand object manipulation

Robust control performance despite object uncertainty

Enhanced grasp stability in soft robotic systems

Abstract

Soft grippers, for stable grasping of objects, with high compliance could be considered a suitable candidate for replacement of conventional rigid grippers, and in recent years, they have been emerging exponentially in industries. Not only are these highly adaptable grippers capable of static grasping of an object, but also they can be utilized for performing object manipulation tasks. Plenty of contemporary studies have been emphasizing on static grasping ability of soft grippers. However, in this thesis, planar in-hand object manipulation in a soft gripper which comprises a pair of soft finger is investigated.