This academic article discusses an automated computational design optimization framework for soft grippers in robotics. The authors propose a method for creating a variety of gripper designs capable of grasping geometrically distinct objects. The proposed design space is vast, including 28 parameters and considering aspects such as finger arrangement and volume. The authors use Finite Element Modelling to produce high-fidelity grasping data for fitness evaluation and feature measurements. This work aims to bridge the gap in computational exploration of design space for soft grippers.
Publication date: 22 Nov 2023
Project Page: Not provided
Paper: https://arxiv.org/pdf/2311.12477
