Control and implementation of fluid-driven soft gripper with dynamic uncertainty of object
This research addresses the problem of dynamic in-hand object manipulation for soft grippers, which is an incremental step beyond static grasping.
This thesis investigates planar in-hand object manipulation using a soft gripper with a pair of soft fingers, addressing a gap in contemporary studies that primarily focus on static grasping abilities of soft grippers.
Soft grippers, for stable grasping of objects, with high compliance could be considered a suitable candidate for replacement of conventional rigid grippers, and in recent years, they have been emerging exponentially in industries. Not only are these highly adaptable grippers capable of static grasping of an object, but also they can be utilized for performing object manipulation tasks. Plenty of contemporary studies have been emphasizing on static grasping ability of soft grippers. However, in this thesis, planar in-hand object manipulation in a soft gripper which comprises a pair of soft finger is investigated.