aiqbench analysis
This research presents a novel robotic gripper that combines deterministic origami mechanics with stochastic entanglement to achieve robust grasping of irregular objects without complex control systems. By integrating Cosserat rod simulations with physical testing in varied environments like water and microgravity, the study offers significant advancements for soft robotics and autonomous manipulation tasks.
Stochastic Entanglement of Deterministic Origami Tentacles For Robust Robotic Grasping
arXiv:2604.26897v2 Announce Type: replace Abstract: Origami-inspired robotic grippers have shown promising potential for object manipulation tasks due to their compact volume and mechanical flexibility. However, robust capture of objects with random shapes in dynamic working environments often comes at the cost of additional actuation channels and control complexity. Here, we introduce a tendon-driven, robust origami tentacle gripper by exploiting a synergy between local, deterministic deformation programming and global, stochastic entanglements. Each tentacle features carefully placed holes (for routing an actuation tendon), origami creases, and a tapered shape. By tailoring these design features, one can prescribe the shrinking, bending, and twisting deformation, eventually creating deterministic coiling with a simple tendon pull. Then, when multiple coiling tentacles are placed in proximity, stochastic entanglement emerges, allowing the tentacles to braid, knot, and grip objects with random shapes. We derived a simulation model by integrating origami mechanics with Cosserat rods to correlate origami design, tentacle deformation, and collective grasping performance. Then, we experimentally tested how these entangling origami tentacles can grasp objects under gravity and in water. A stow-and-release deployment mechanism was also tested to simulate in-orbit grasping. Overall, this entanglement-enabled tentacle gripper presents a route toward robust object grasping with simple design and actuation.
Abstract:Origami-inspired robotic grippers have shown promising potential for object manipulation tasks due to their compact volume and mechanical flexibility. However, robust capture of objects with random shapes in dynamic working environments often comes at the cost of additional actuation channels and control complexity. Here, we introduce a tendon-driven, robust origami tentacle gripper by exploiting a synergy between local, deterministic deformation programming and global, stochastic entanglements. Each tentacle features carefully placed holes (for routing an actuation tendon), origami creases, and a tapered shape. By tailoring these design features, one can prescribe the shrinking, bending, and twisting deformation, eventually creating deterministic coiling with a simple tendon pull. Then, when multiple coiling tentacles are placed in proximity, stochastic entanglement emerges, allowing the tentacles to braid, knot, and grip objects with random shapes. We derived a simulation model by integrating origami mechanics with Cosserat rods to correlate origami design, tentacle deformation, and collective grasping performance. Then, we experimentally tested how these entangling origami tentacles can grasp objects under gravity and in water. A stow-and-release deployment mechanism was also tested to simulate in-orbit grasping. Overall, this entanglement-enabled tentacle gripper presents a route toward robust object grasping with simple design and actuation.
Robotics (cs.RO); Systems and Control (eess.SY)
arXiv:2604.26897 [cs.RO]
(or arXiv:2604.26897v2 [cs.RO] for this version)
https://doi.org/10.48550/arXiv.2604.26897 Focus to learn more arXiv-issued DOI via DataCite
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Full text under the publisher's open licence · 291 words
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