Active entanglement enables stochastic, topological grasping
Grasping, in both biological and engineered mechanisms, can be highly sensitive to the gripper and object morphology, as well as perception and motion planning. Here, we circumvent the need for feedback or precise planning by using an array of fluidically actuated slender hollow elastomeric filament...
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| Veröffentlicht in: | Proceedings of the National Academy of Sciences - PNAS 2022-10, Vol.119 (42), p.e2209819119-e2209819119 |
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| container_end_page | e2209819119 |
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| container_issue | 42 |
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| container_title | Proceedings of the National Academy of Sciences - PNAS |
| container_volume | 119 |
| creator | Becker, Kaitlyn Teeple, Clark Charles, Nicholas Jung, Yeonsu Baum, Daniel Weaver, James C Mahadevan, L Wood, Robert |
| description | Grasping, in both biological and engineered mechanisms, can be highly sensitive to the gripper and object morphology, as well as perception and motion planning. Here, we circumvent the need for feedback or precise planning by using an array of fluidically actuated slender hollow elastomeric filaments to actively entangle with objects that vary in geometric and topological complexity. The resulting stochastic interactions enable a unique soft and conformable grasping strategy across a range of target objects that vary in size, weight, and shape. We experimentally evaluate the grasping performance of our strategy and use a computational framework for the collective mechanics of flexible filaments in contact with complex objects to explain our findings. Overall, our study highlights how active collective entanglement of a filament array via an uncontrolled, spatially distributed scheme provides options for soft, adaptable grasping. |
| doi_str_mv | 10.1073/pnas.2209819119 |
| format | Article |
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Here, we circumvent the need for feedback or precise planning by using an array of fluidically actuated slender hollow elastomeric filaments to actively entangle with objects that vary in geometric and topological complexity. The resulting stochastic interactions enable a unique soft and conformable grasping strategy across a range of target objects that vary in size, weight, and shape. We experimentally evaluate the grasping performance of our strategy and use a computational framework for the collective mechanics of flexible filaments in contact with complex objects to explain our findings. Overall, our study highlights how active collective entanglement of a filament array via an uncontrolled, spatially distributed scheme provides options for soft, adaptable grasping.</description><identifier>ISSN: 0027-8424</identifier><identifier>EISSN: 1091-6490</identifier><identifier>DOI: 10.1073/pnas.2209819119</identifier><identifier>PMID: 36215466</identifier><language>eng</language><publisher>United States: National Academy of Sciences</publisher><subject>Arrays ; Complexity ; Computer applications ; Elastomers ; Entanglement ; Filaments ; Grasping ; Hand Strength ; Mathematical morphology ; Motion detection ; Motion planning ; Physical Sciences ; Robotics - methods ; Stochasticity ; Strategy ; Topology</subject><ispartof>Proceedings of the National Academy of Sciences - PNAS, 2022-10, Vol.119 (42), p.e2209819119-e2209819119</ispartof><rights>Copyright National Academy of Sciences Oct 18, 2022</rights><rights>Copyright © 2022 the Author(s). 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| ispartof | Proceedings of the National Academy of Sciences - PNAS, 2022-10, Vol.119 (42), p.e2209819119-e2209819119 |
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| source | MEDLINE; PubMed Central; Alma/SFX Local Collection; Free Full-Text Journals in Chemistry |
| subjects | Arrays Complexity Computer applications Elastomers Entanglement Filaments Grasping Hand Strength Mathematical morphology Motion detection Motion planning Physical Sciences Robotics - methods Stochasticity Strategy Topology |
| title | Active entanglement enables stochastic, topological grasping |
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