Grasp EveryThing (GET): 1-DoF, 3-Fingered Gripper with Tactile Sensing for Robust Grasping
Fuente:
arXiv
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| Autori principali: | , |
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| Natura: | Preprint |
| Pubblicazione: |
2025
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| _version_ | 1866908473214631936 |
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| author | Burgess, Michael Adelson, Edward H. |
| author_facet | Burgess, Michael Adelson, Edward H. |
| contents | We introduce the Grasp EveryThing (GET) gripper, a novel 1-DoF, 3-finger design for securely grasping objects of many shapes and sizes. Mounted on a standard parallel jaw actuator, the design features three narrow, tapered fingers arranged in a two-against-one configuration, where the two fingers converge into a V-shape. The GET gripper is more capable of conforming to object geometries and forming secure grasps than traditional designs with two flat fingers. Inspired by the principle of self-similarity, these V-shaped fingers enable secure grasping across a wide range of object sizes. Further to this end, fingers are parametrically designed for convenient resizing and interchangeability across robotic embodiments with a parallel jaw gripper. Additionally, we incorporate a rigid fingernail for ease in manipulating small objects. Tactile sensing can be integrated into the standalone finger via an externally-mounted camera. A neural network was trained to estimate normal force from tactile images with an average validation error of 1.3 N across a diverse set of geometries. In grasping 15 objects and performing 3 tasks via teleoperation, the GET fingers consistently outperformed standard flat fingers. All finger designs, compatible with multiple robotic embodiments, both incorporating and lacking tactile sensing, are available on GitHub. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2505_09771 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Grasp EveryThing (GET): 1-DoF, 3-Fingered Gripper with Tactile Sensing for Robust Grasping Burgess, Michael Adelson, Edward H. Robotics We introduce the Grasp EveryThing (GET) gripper, a novel 1-DoF, 3-finger design for securely grasping objects of many shapes and sizes. Mounted on a standard parallel jaw actuator, the design features three narrow, tapered fingers arranged in a two-against-one configuration, where the two fingers converge into a V-shape. The GET gripper is more capable of conforming to object geometries and forming secure grasps than traditional designs with two flat fingers. Inspired by the principle of self-similarity, these V-shaped fingers enable secure grasping across a wide range of object sizes. Further to this end, fingers are parametrically designed for convenient resizing and interchangeability across robotic embodiments with a parallel jaw gripper. Additionally, we incorporate a rigid fingernail for ease in manipulating small objects. Tactile sensing can be integrated into the standalone finger via an externally-mounted camera. A neural network was trained to estimate normal force from tactile images with an average validation error of 1.3 N across a diverse set of geometries. In grasping 15 objects and performing 3 tasks via teleoperation, the GET fingers consistently outperformed standard flat fingers. All finger designs, compatible with multiple robotic embodiments, both incorporating and lacking tactile sensing, are available on GitHub. |
| title | Grasp EveryThing (GET): 1-DoF, 3-Fingered Gripper with Tactile Sensing for Robust Grasping |
| topic | Robotics |
| url | https://arxiv.org/abs/2505.09771 |