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Erschienen in:
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2019 | OriginalPaper | Buchkapitel

Soft Particles for Granular Jamming

verfasst von : Fabrizio Putzu, Jelizaveta Konstantinova, Kaspar Althoefer

Erschienen in: Towards Autonomous Robotic Systems

Verlag: Springer International Publishing

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Abstract

In the last decade, soft robots demonstrated their distinctive advantages compared to ‘hard’ robots. Soft structures can achieve high dexterity and compliance. However, only low forces can be exerted, and more complicated control strategies are needed. Variable stiffness robots offer an alternative solution to compensate for the downsides of flexible robots. One of the most common approach in the development of variable stiffness robots is the use of granular jamming. In this paper a variable stiffness manipulator based on granular jamming is studied. Here, we propose the use of soft and deformable spherical particles instead of commonly used rigid particles. Further on, we evaluate the performance of the soft particles under vacuum. In addition, a comparison between our approach and the standard approach to granular jamming is presented. The proposed soft particles show good performance in terms of their capability of compacting and squeezing against each other to achieve a high-stiffness robot arm.

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Vorheriges Kapitel GarmNet: Improving Global with Local Perception for Robotic Laundry Folding
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Metadaten
Titel
Soft Particles for Granular Jamming
verfasst von
Fabrizio Putzu
Jelizaveta Konstantinova
Kaspar Althoefer
Copyright-Jahr
2019
Buch
Towards Autonomous Robotic Systems

Print ISBN: 978-3-030-25331-8

Electronic ISBN: 978-3-030-25332-5

Copyright-Jahr: 2019

DOI
https://doi.org/10.1007/978-3-030-25332-5_6

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