Kazuhiro Matsui

Extending Planar Orientation Control Range of Grasped Objects Using Selective Actuation in a Redundant Parallel-Driven Soft Gripper

Soft grippers enable stable grasping through compliant structures and multipoint contact; however, manipulating the pose of a grasped object while maintaining contact remains challenging, particularly when large pose changes are required. Conventional approaches based on locally estimated drive matrices are limited to...