All-terrain granular gripper
- Angel Santarossa,
- Olfa D’Angelo,
- Achim Sack,
- Thorsten Pöschel
Angel Santarossa
Friedrich-Alexander-Universitat Erlangen-Nurnberg
Author ProfileOlfa D’Angelo
Friedrich-Alexander-Universitat Erlangen-Nurnberg
Author ProfileAchim Sack
Friedrich-Alexander-Universitat Erlangen-Nurnberg
Author ProfileThorsten Pöschel
Friedrich-Alexander-Universitat Erlangen-Nurnberg
Corresponding Author:thorsten.poeschel@fau.de
Author ProfileAbstract
Granular grippers can manipulate a wide variety of objects, but need to
be pressed on the object to conform to it. If the object is placed on
unstable ground, e.g., on sand or water, this step might cause the
object to sink or move away from the gripper, hindering proper
operation. We introduce a granular gripper with an integrated suction
cup, where suction and jamming are controlled independently. We
demonstrate the system's robust and enhanced gripping capabilities by
comparing its grasping performance with a typical granular gripper
design. We show that the proposed device can grip objects that are
challenging for typical granular grippers, including those placed on
unstable ground, as the suction cup stabilizes the object, allowing the
gripper to conform.15 Dec 2024Submitted to Journal of Field Robotics 16 Dec 2024Submission Checks Completed
16 Dec 2024Assigned to Editor
16 Dec 2024Review(s) Completed, Editorial Evaluation Pending
21 Dec 2024Reviewer(s) Assigned