Off-topic for aiqbench
This story was gathered from a source we follow but falls outside AI and quantum coverage, so there is no aiqbench take for it.
SimTO-Robust: Automated Design of Soft Grippers Robust to Grasp Pose and Object Geometry
arXiv:2610.39560v1 Announce Type: new Abstract: Robotic grippers operating in unstructured environments must robustly grasp objects of different shapes and sizes despite perception and positioning errors. Soft grippers that can achieve this robustness through intelligent mechanical design rather than sophisticated control software offer a promising solution. However, no existing computational design framework explicitly optimises soft gripper morphology for robustness across object geometries and grasp poses. We introduce SimTO-Robust, a generalisation of simulation-driven topology optimisation (SimTO) that simulates grasps across multiple objects and poses and aggregates their contact forces to guide gripper morphology optimisation. We generate 6,646 designs and physically evaluate 24 of them alongside 10 specialised SimTO designs, two rigid baseline grippers, and a baseline generalist soft gripper produced using conventional topology optimisation. All 37 grippers are tested in a pick-and-place task involving five feature-rich objects and six grasp poses, with external disturbances of increasing magnitude applied during the task. On average, SimTO-Robust designs complete pick-and-place more reliably than specialised SimTO designs and the rigid baselines. The best SimTO-Robust designs also withstood more of the applied disturbances than any other tested gripper. These results show that incorporating diverse grasp conditions into simulation-driven topology optimisation is a simple and effective approach to improving real-world soft gripper robustness. More broadly, they show that robust robotic grasping can be achieved through intelligent mechanical design rather than sophisticated sensing and control.
Abstract:Robotic grippers operating in unstructured environments must robustly grasp objects of different shapes and sizes despite perception and positioning errors. Soft grippers that can achieve this robustness through intelligent mechanical design rather than sophisticated control software offer a promising solution. However, no existing computational design framework explicitly optimises soft gripper morphology for robustness across object geometries and grasp poses. We introduce SimTO-Robust, a generalisation of simulation-driven topology optimisation (SimTO) that simulates grasps across multiple objects and poses and aggregates their contact forces to guide gripper morphology optimisation. We generate 6,646 designs and physically evaluate 24 of them alongside 10 specialised SimTO designs, two rigid baseline grippers, and a baseline generalist soft gripper produced using conventional topology optimisation. All 37 grippers are tested in a pick-and-place task involving five feature-rich objects and six grasp poses, with external disturbances of increasing magnitude applied during the task. On average, SimTO-Robust designs complete pick-and-place more reliably than specialised SimTO designs and the rigid baselines. The best SimTO-Robust designs also withstood more of the applied disturbances than any other tested gripper. These results show that incorporating diverse grasp conditions into simulation-driven topology optimisation is a simple and effective approach to improving real-world soft gripper robustness. More broadly, they show that robust robotic grasping can be achieved through intelligent mechanical design rather than sophisticated sensing and control.
Robotics (cs.RO)
arXiv:2610.39560 [cs.RO]
(or arXiv:2610.39560v1 [cs.RO] for this version)
https://doi.org/10.48550/arXiv.2610.39560 Focus to learn more arXiv-issued DOI via DataCite
arXivLabs is a framework that allows collaborators to develop and share new arXiv features directly on our website.
Both individuals and organizations that work with arXivLabs have embraced and accepted our values of openness, community, excellence, and user data privacy. arXiv is committed to these values and only works with partners that adhere to them.
Have an idea for a project that will add value for arXiv's community? Learn more about arXivLabs.
Full text under the publisher's open licence · 312 words