Origami-based Shape Morphing Fingertip to Enhance Grasping Stability and Dexterity
- Resource Type
- Conference
- Authors
- Kan, Zicheng; Zhang, Yazhan; Pang, Chohei; Wang, Michael Yu
- Source
- 2020 IEEE 16th International Conference on Automation Science and Engineering (CASE) Automation Science and Engineering (CASE), 2020 IEEE 16th International Conference on. :1070-1077 Aug, 2020
- Subject
- Communication, Networking and Broadcast Technologies
Computing and Processing
Engineering Profession
General Topics for Engineers
Power, Energy and Industry Applications
Robotics and Control Systems
Signal Processing and Analysis
Transportation
Grasping
Robots
Couplings
Task analysis
Grippers
Shape
Stability analysis
- Language
- ISSN
- 2161-8089
Adaptation to various scene configurations and object properties, stability and dexterity in robotic grasping manipulation is far from explored. This work presents an origami-based shape morphing fingertip design to actively tackle the grasping stability and dexterity problems. The proposed fingertip utilizes origami as its skeleton providing degrees of freedom at desired positions and motor-driven four-barlinkages as its transmission components to achieve a compact size of the fingertip. 3 morphing types that are commonly observed and essential in robotic grasping are studied and validated with geometrical modeling. Experiments including grasping an object with convex point contact to pivot or do pinch grasping, grasped object reorientation, and enveloping grasping with concave fingertip surfaces are implemented to demonstrate the advantages of our fingertip compared to conventional parallel grippers. Multi-functionality on enhancing grasping stability and dexterity via active adaptation given different grasped objects and manipulation tasks are justified.