Robust Dual-Modal Grasping Using a Stiffness-Switchable Adhesive Array
Lvzhou Li, Kai Zhu, Qingyue Li, Xiangli Wen, Xu Dong, Yaoyao Jiang, Jianning Ding
Abstract
This letter presents a dual-modal adaptive gripper (DMAG) that addresses the persistent trilemma in robotic grasping among shape adaptability, high load capacity, and environmental resilience. By introducing a temporally decoupled “conform-then-lock” paradigm, the DMAG separates geometric conformation from force transmission through a fully mechanical, media-agnostic locking mechanism. Inspired by the stiffness modulation of anemones, it translates this biological principle into a fully mechanical architecture, enabling a modular adhesive array to switch between compliant and rigid states. Experimental validation confirms: (1) a 111-fold stiffness modulation achieving over 100% grasp force enhancement; (2) sustained functionality from atmospheric pressure to low-vacuum (<inline-formula><tex-math notation="LaTeX">$1.3\times 10^{2}$</tex-math></inline-formula> Pa); (3) <inline-formula><tex-math notation="LaTeX">$>95\%$</tex-math></inline-formula> grasp success rate under 20% simulated unit failure; and (4) reliable grasping across two orders of magnitude in object scale. The DMAG establishes an integrated hardware architecture that reconciles the complementary strengths of soft, articulated, and adhesive grippers while overcoming their inherent limitations.
BibTeX
@inproceedings{ral2026_robustdualmodalg,
title = {Robust Dual-Modal Grasping Using a Stiffness-Switchable Adhesive Array},
author = {Lvzhou Li and Kai Zhu and Qingyue Li and Xiangli Wen and Xu Dong and Yaoyao Jiang and Jianning Ding},
booktitle = {RA-L 2026},
year = {2026}
}