CLASH WRIST -- A hardware to increase the capability of CLASH fruit gripper to use environment constraints exploration
This work addresses a domain-specific issue for cobots in agriculture or similar settings, but it is incremental as it builds on existing environmental constraint exploitation methods.
The paper tackles the problem of robotic grasping in constrained environments by developing a two-degree-of-freedom wrist for the CLASH fruit gripper, enabling it to better utilize environmental constraints and improve manipulation capabilities.
Humans use environmental constraints (EC) in manipulation to compensate for uncertainties in their world model. The same principle was recently applied to robotics, so that soft underactuated hands improve their grasping capability by using environmental constraints exploitation (ECE) [1]. Due to orientation of the robotic hand for example in the EC wall grasp, the length of the robot wrist plus the hand length gets quite important, if objects are grasp out of a box [2] . Most of the modern cobots have quite long wrist, so we have constructed a two degree of freedom wrist for the CLASH [3], to solve this problem (Fig. 1).