Problem
Research questions and friction points this paper is trying to address.
Underwater Grasping
Sloped Objects
Passive Adaptive Gripper
Friction Reduction
Robust Underwater Grasping of Sloped Objects with a Waterproof Passive Adaptive Gripper
🤖 AI Summary
研究设计了一种防水自适应抓手，通过结合局部和全局适应性解决了水下环境中倾斜或不对称物体的稳定抓取问题。
📝 Abstract
Robust grasping of everyday objects remains challenging for parallel-jaw grippers, particularly when handling sloped or asymmetric items that induce torque-driven rolling and shear slip. These challenges become even more severe in domestic environments such as kitchens, where objects are often wet or submerged, drastically reducing friction between the gripper and the object. To address these issues, we present a waterproof passive adaptive gripper that combines local and global adaptability for high-performance grasping in the submerged environments. The proposed gripper features a fully waterproof design that integrates a passive rotational joint for global self-alignment on sloped surfaces and passive variable-stiffness pads for local surface adaptation. Experiments in both dry and underwater conditions on various cylindrical and conical objects demonstrate superior holding capability and grasp robustness compared to rigid-pad and fixed-joint baselines. The proposed design offers a practical and robust solution that successfully enables stable underwater manipulation of diverse everyday objects, effectively addressing a critical gap in current underwater robotic grasping for daily-life applications.
Innovation
Methods, ideas, or system contributions that make the work stand out.
waterproof passive adaptive gripper
passive rotational joint
variable-stiffness pads
underwater grasping
self-alignment
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