In-hand Manipulation with Universal Gripper

- Object Manipulation by controlling the pressure distribution of micro-powders -

Abstract

In this study, to realize in-hand manipulation with a universal jamming gripper, we attempt to estimate the position and posture of an object by measuring the strain of the powder caused by external forces, and to manipulate the object by controlling the pressure distribution based on the low permeability of the micro-powder. The authors have reported tactile sensing using conductive powders and shown that it is possible to provide a pseudo-tactile sensing function. In this paper, we present the concept of in-hand manipulation by controlling the pressure distribution of micro-powders, and report on the experimental situation with the developed gripper.