2025
Underactuated Dexterous Robotic Grasping With Reconfigurable Passive Joints
Marek Sewer Kopicki, Sainul Islam Ansary, Simone Tolomei, Franco Angelini, Manolo Garabini, Piotr Skrzypczynski
RA-L 2025
We introduce a novel reconfigurable passive joint (RP-joint), which has been implemented and tested on an underactuated three-finger robotic gripper. RP-joint has no actuation, but instead it is lightweight and compact. It can be easily reconfigured by applying external forces and locked to perform