AI Networking Cookbook: Practical recipes for AI-assisted network automation and development
A geometry-aware force/torque-based contact estimation method for a coarse position-controlled gripper, combined with an adaptive admittance controller for safe grasp acquisition, that enables compliant and stable grasps while avoiding excessive forces is presented.
The increasing demand for flexible, high-precision, and low-damage manufacturing is driving industrial robotic grippers toward adaptive systems with compliant interaction, force regulation, and intelligent decision-making capabilities. However, their industrial deployment remains limited by three major challenges: the...
. Pneumatic soft grippers have attracted considerable attention because their intrinsic compliance enables the safe manipulation of fragile and irregularly shaped objects. However, their practical performance remains constrained by challenges in structural design, proprioceptive and tactile perception, and closed-loop...
Reliable robotic manipulation requires maintaining a firm grasp while strictly avoiding both contact slip and structural damage to the object. Satisfying these inherent \textit{secure-and-gentle} grasping constraints is challenging for unknown objects. We present a novel online data-driven predictive control framework...
The use of soft robotic end-effectors has been prevalent in sensitive agricultural harvesting because these devices have high compliance and are safe to interact with humans. Current variable-stiffness grippers have the disadvantages of full-finger uniform stiffness parameters and discrete-grade parameter control, whic...
This paper presents a theoretical framework for estimating the gripping force of a three-degree-of-freedom robotic arm mounted on a remotely operated underwater vehicle, intended for sampling operations in intensive aquaculture systems. Using the static relationship based on the Jacobian transpose, the proposed method...
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