• Corpus ID: 239024315

A Soft-Rigid Hybrid Gripper with Lateral Compliance and Dexterous In-hand Manipulation

  title={A Soft-Rigid Hybrid Gripper with Lateral Compliance and Dexterous In-hand Manipulation},
  author={Wenpei Zhu and Chenghua Lu and Qule Zheng and Zhonggui Fang and Haichuan Che and Kailuan Tang and Mingchao Zhu and Sicong Liu and Zheng Wang},
Soft grippers are receiving growing attention due to their compliance-based interactive safety and dexterity. Hybrid gripper (soft actuators enhanced by rigid constraints) is a new trend in soft gripper design. With right structural components actuated by soft actuators, they could achieve excellent grasping adaptability and payload, while also being easy to model and control with conventional kinematics. However, existing works were mostly focused on achieving superior payload and perception… 


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