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Optimization of Kirigami-Inspired Fingers Grasping Posture in Virtual Environments

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Biomimetic and Biohybrid Systems (Living Machines 2023)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 14158))

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Abstract

Robotic grasping has been conceived as pivotal in achieving a broad spectrum of mechanical functionalities, including motion planning and perceptions via proprio- or exteroceptive sensory feedback control. In the last decade, these efforts have led to the development of artificial grippers that can provide multiple grasping modalities while handling various objects. Nonetheless, most of today’s grippers require a particular posture for a given set of functions and tasks with fixed scenarios, which results in concreating grasping pipelines for known and unknown objects. In this work, a double-fingered gripper is presented using a kirigami pattern. To optimize the posture of two kirigami-inspired fingers, SOFA (Simulation Open Framework Architecture) is employed, and we focus on how the posture of two fingers influences to forming of a set of contact points concerning the target object. Overall, the optimal posture of the kirigami-inspired two-fingered gripper is demonstrated.

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Authors and Affiliations

  1. Soft BioRobotics Perception, Istituto Italiano di Tecnologia, 16163, Genova, GE, Italy

    Anderson B. Nardin, Seonggun Joe & Lucia Beccai

  2. The BioRobotics Institute, Scuola Superiore Sant’Anna, 56025, Pontedera, PI, Italy

    Anderson B. Nardin

Authors
  1. Anderson B. Nardin
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  2. Seonggun Joe
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  3. Lucia Beccai
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Corresponding author

Correspondence to Anderson B. Nardin .

Editor information

Editors and Affiliations

  1. Italian Institute of Technology, Genova, Italy

    Fabian Meder

  2. Portland State University, Portland, OR, USA

    Alexander Hunt

  3. Istituto Italiano di Tecnologia, Genova, Italy

    Laura Margheri

  4. Radboud University Nijmegen, Barcelona, Barcelona, Spain

    Anna Mura

  5. Italian Institute of Technology, Genova, Italy

    Barbara Mazzolai

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Nardin, A.B., Joe, S., Beccai, L. (2023). Optimization of Kirigami-Inspired Fingers Grasping Posture in Virtual Environments. In: Meder, F., Hunt, A., Margheri, L., Mura, A., Mazzolai, B. (eds) Biomimetic and Biohybrid Systems. Living Machines 2023. Lecture Notes in Computer Science(), vol 14158. Springer, Cham. https://doi.org/10.1007/978-3-031-39504-8_10

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  • DOI: https://doi.org/10.1007/978-3-031-39504-8_10

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  • Online ISBN: 978-3-031-39504-8

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