Adaptive and Multi-object Grasping via Deformable Origami Modules
Fuente:
arXiv
Salvato in:
| Autori principali: | , , , , , |
|---|---|
| Natura: | Preprint |
| Pubblicazione: |
2025
|
| Soggetti: | |
| Accesso online: | |
| Tags: |
Aggiungi Tag
Nessun Tag, puoi essere il primo ad aggiungerne!!
|
| _version_ | 1866914129986453504 |
|---|---|
| author | Wang, Peiyi Lefeuvre, Paul A. M. Zou, Shangwei Ni, Zhenwei Rus, Daniela Laschi, Cecilia |
| author_facet | Wang, Peiyi Lefeuvre, Paul A. M. Zou, Shangwei Ni, Zhenwei Rus, Daniela Laschi, Cecilia |
| contents | Soft robotics gripper have shown great promise in handling fragile and geometrically complex objects. However, most existing solutions rely on bulky actuators, complex control strategies, or advanced tactile sensing to achieve stable and reliable grasping performance. In this work, we present a multi-finger hybrid gripper featuring passively deformable origami modules that generate constant force and torque output. Each finger composed of parallel origami modules is driven by a 1-DoF actuator mechanism, enabling passive shape adaptability and stable grasping force without active sensing or feedback control. More importantly, we demonstrate an interesting capability in simultaneous multi-object grasping, which allows stacked objects of varied shape and size to be picked, transported and placed independently at different states, significantly improving manipulation efficiency compared to single-object grasping. These results highlight the potential of origami-based compliant structures as scalable modules for adaptive, stable and efficient multi-object manipulation in domestic and industrial pick-and-place scenarios. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2511_00516 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Adaptive and Multi-object Grasping via Deformable Origami Modules Wang, Peiyi Lefeuvre, Paul A. M. Zou, Shangwei Ni, Zhenwei Rus, Daniela Laschi, Cecilia Robotics Soft robotics gripper have shown great promise in handling fragile and geometrically complex objects. However, most existing solutions rely on bulky actuators, complex control strategies, or advanced tactile sensing to achieve stable and reliable grasping performance. In this work, we present a multi-finger hybrid gripper featuring passively deformable origami modules that generate constant force and torque output. Each finger composed of parallel origami modules is driven by a 1-DoF actuator mechanism, enabling passive shape adaptability and stable grasping force without active sensing or feedback control. More importantly, we demonstrate an interesting capability in simultaneous multi-object grasping, which allows stacked objects of varied shape and size to be picked, transported and placed independently at different states, significantly improving manipulation efficiency compared to single-object grasping. These results highlight the potential of origami-based compliant structures as scalable modules for adaptive, stable and efficient multi-object manipulation in domestic and industrial pick-and-place scenarios. |
| title | Adaptive and Multi-object Grasping via Deformable Origami Modules |
| topic | Robotics |
| url | https://arxiv.org/abs/2511.00516 |