Can a robotic gripper only operate when attached to a robotic arm?The application space of the traditional gripper is limited by the robotic arm.Giving robot grippers the ability to move will expand their range of app...Can a robotic gripper only operate when attached to a robotic arm?The application space of the traditional gripper is limited by the robotic arm.Giving robot grippers the ability to move will expand their range of applications.Inspired by rich behavioral repertoire observed in octopus,we implement an integrated multifunctional soft robotic gripper with 6 independently controlled Arms.It can execute 8 different gripping actions for different objects,such as irregular rigid/soft objects,elongated objects with arbitrary orientation,and plane/curved objects with larger sizes than the grippers.Moreover,the soft gripper can realize omnidirectional crawling and swimming by itself.The soft gripper can perform highly integrated tasks of releasing,crawling,swimming,grasping,and retrieving objects in a confined underwater environment.Experimental results demonstrate that the integrated capabilities of multimodal adaptive grasping and omnidirectional motions enable dexterous manipulations that traditional robotic arms cannot achieve.The soft gripper may apply to highly integrated and labor-intensive tasks in unstructured underwater environments,including ocean litter collecting,capture fishery,and archeological exploration.展开更多
基金supported in part by the National Natural Science Foundation of China under grants U22A2062,U23B2037,12272008,and 61973007in part by the Beijing Natural Science Foundation under grant 3242003。
文摘Can a robotic gripper only operate when attached to a robotic arm?The application space of the traditional gripper is limited by the robotic arm.Giving robot grippers the ability to move will expand their range of applications.Inspired by rich behavioral repertoire observed in octopus,we implement an integrated multifunctional soft robotic gripper with 6 independently controlled Arms.It can execute 8 different gripping actions for different objects,such as irregular rigid/soft objects,elongated objects with arbitrary orientation,and plane/curved objects with larger sizes than the grippers.Moreover,the soft gripper can realize omnidirectional crawling and swimming by itself.The soft gripper can perform highly integrated tasks of releasing,crawling,swimming,grasping,and retrieving objects in a confined underwater environment.Experimental results demonstrate that the integrated capabilities of multimodal adaptive grasping and omnidirectional motions enable dexterous manipulations that traditional robotic arms cannot achieve.The soft gripper may apply to highly integrated and labor-intensive tasks in unstructured underwater environments,including ocean litter collecting,capture fishery,and archeological exploration.
