Variable compliance and geometry regulation of Soft-Bubble grippers with active pressure control

@article{Joonhigh2021VariableCA,
  title={Variable compliance and geometry regulation of Soft-Bubble grippers with active pressure control},
  author={Sihah Joonhigh and Naveen Suresh Kuppuswamy and Andrew Beaulieu and Alexander Alspach and Russ Tedrake},
  journal={2021 IEEE 4th International Conference on Soft Robotics (RoboSoft)},
  year={2021},
  pages={169-175}
}
While compliant grippers have become increasingly commonplace in robot manipulation, finding the right stiffness and geometry for grasping the widest variety of objects remains a key challenge. Adjusting both stiffness and gripper geometry on the fly may provide the versatility needed to manipulate the large range of objects found in domestic environments. We present a system for actively controlling the geometry (inflation level) and compliance of Soft-bubble grippers - air filled, highly… 

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