4 accepted papers
Dexterity is often seen as a cornerstone of complex manipulation. Humans are able to perform a host of skills with their hands, from making food to operating tools. In this paper, we investigate these challenges, especially in the case of soft, deformable objects as well as complex, relatively long…
This paper presents the DeltaZ robot, a centimeter-scale, low-cost, delta-style robot that allows for a broad range of capabilities and robust functionalities. The DeltaZ robot is 3D-printed from soft and rigid materials with a design that is easy to assemble and maintain, and lowers the barriers to…
Traditional parallel-jaw grippers are insufficient for delicate object manipulation due to their stiffness and lack of dexterity. Other dexterous robotic hands often have bulky fingers; rely on complex time-varying cable drives; or are prohibitively expensive. In this paper; we introduce a novel low…
Distributed manipulators - consisting of a set of actuators or robots working cooperatively to achieve a manipulation task - are robust and flexible tools for performing a range of planar manipulation skills. One novel example is the delta array, a distributed manipulator composed of a grid of delta…