A Versatile Underactuated Robotic Hand for Cloth Manipulation
Xinhao Chen, Alberto Elías Petrilli-Barceló, Saeed Shiry Ghidary, Dayuan Chen, Jose Victorio Salazar Luces, Yasuhisa Hirata
Abstract
Traditional cloth manipulationg often employs low-DOF grippers to simplify hardware. However, this approach presents significant challenges for algorithms due to the complex and dynamic behavior of fabrics. To address these limitations, we propose a novel approach based on a human-hand-like design that integrates an underactuated grasping mechanism with a suction system. By incorporating multiple single-layer suction principles, the robotic hand achieves greater adaptability and flexibility, enabling it to perform tasks that would typically require high-DOF hands and complex control strategies. This letter outlines the design of the robot hand with a suction system and evaluates its performance in various tasks.
BibTeX
@inproceedings{ral2025_aversatileundera,
title = {A Versatile Underactuated Robotic Hand for Cloth Manipulation},
author = {Xinhao Chen and Alberto Elías Petrilli-Barceló and Saeed Shiry Ghidary and Dayuan Chen and Jose Victorio Salazar Luces and Yasuhisa Hirata},
booktitle = {RA-L 2025},
year = {2025}
}