Using an off-the-shelf rigid gripper to grasp objects of different strengths and compliances

Abstract

Robotic grippers are being increasingly used in everyday tasks and complex missions that require the ability to perform a range of grasps. Rigid grippers have been used for decades since their start in industrial applications, but their inability to grasp delicate objects has led to the development of soft grippers. While soft grippers are showing promising results in many applications, they often are limited by low grasp forces and availability. This paper presents an algorithm for using an off-the-shelf rigid gripper to grasp objects of different strengths and compliances, without the need for tactile sensors or modifications. The algorithm was used to successfully grasp a variety of objects, most notably a potato chip and a highly compliant paper cup.