Compliant Robotic Grasping

Compliant robotic grasping focuses on developing robotic hands capable of securely manipulating objects of varying shapes and textures without causing damage, a crucial step towards more dexterous robots. Current research emphasizes designing grippers with adaptable mechanisms, such as incorporating both rigid and flexible elements or using multiple actuation modes (e.g., suction and fingers), and developing robust grasp planning algorithms that account for shape uncertainty. This work is significant for improving robotic manipulation in diverse applications, from delicate tasks like fruit harvesting to more general-purpose object handling in unstructured environments, by enhancing grasp success rates and reducing the risk of object damage.