3 citations · 4 across the 12 of their papers we have counts for
13 papers · 1 filter
Graph-Based Design of Soft Grippers with Multi-Objective Quality-Diversity Optimisation
Andre Farinha, Ge Shi, Harry Bowman +3
Effective manipulation across diverse objects is critical for applications ranging from agricultural harvesting to laboratory and domestic automation. While the inherent compliance…
Grasp Synthesis Matching From Rigid To Soft Robot Grippers Using Conditional Flow Matching
Tanisha Parulekar, Ge Shi, Josh Pinskier +2
A representation gap exists between grasp synthesis for rigid and soft grippers. Anygrasp [1] and many other grasp synthesis methods are designed for rigid parallel grippers, and a…
ReefFlex: A Generative Design Framework for Soft Robotic Grasping of Organic and Fragile objects
Josh Pinskier, Sarah Baldwin, Stephen Rodan +1
Climate change, invasive species and human activities are currently damaging the world's coral reefs at unprecedented rates, threatening their vast biodiversity and fisheries, and…
SimTO: A two-stage, simulation-driven topology optimization framework for bespoke soft robotic grippers
Kurt Enkera, Josh Pinskier, Marcus Gallagher +1
Soft robotic grippers are essential for grasping delicate, geometrically complex objects in manufacturing, healthcare and agriculture. However, existing designs struggle to grasp f…
Programmable Telescopic Soft Pneumatic Actuators for Deployable and Shape Morphing Soft Robots
Joel Kemp, Andre Farinha, David Howard +2
Soft Robotics presents a rich canvas for free-form and continuum devices capable of exerting forces in any direction and transforming between arbitrary configurations. However, the…
Soft Pneumatic Grippers: Topology optimization, 3D-printing and Experimental validation
Prabhat Kumar, Chandra Prakash, Josh Pinskier +2
Typically, heuristic/trial-based approaches are used to design soft pneumatic grippers (SPGs). This paper presents a systematic topology optimization framework for developing SPGs.…
SoGraB: A Visual Method for Soft Grasping Benchmarking and Evaluation
Benjamin G. Greenland, Josh Pinskier, Xing Wang +5
Recent years have seen soft robotic grippers gain increasing attention due to their ability to robustly grasp soft and fragile objects. However, a commonly available standardised e…
DexGrip: Multi-modal Soft Gripper with Dexterous Grasping and In-hand Manipulation Capacity
Xing Wang, Liam Horrigan, Josh Pinskier +6
The ability of robotic grippers to not only grasp but also re-position and re-orient objects in-hand is crucial for achieving versatile, general-purpose manipulation. While recent…
A 'MAP' to find high-performing soft robot designs: Traversing complex design spaces using MAP-elites and Topology Optimization
Yue Xie, Josh Pinskier, Lois Liow +2
Soft robotics has emerged as the standard solution for grasping deformable objects, and has proven invaluable for mobile robotic exploration in extreme environments. However, despi…
Hybrid Soft Electrostatic Metamaterial Gripper for Multi-surface, Multi-object Adaptation
Ryo Kanno, Pham H. Nguyen, Joshua Pinskier +3
One of the trendsetting themes in soft robotics has been the goal of developing the ultimate universal soft robotic gripper. One that is capable of manipulating items of various sh…
A Compliant Robotic Leg Based on Fibre Jamming
Lois Liow, James Brett, Josh Pinskier +4
Humans possess a remarkable ability to react to unpredictable perturbations through immediate mechanical responses, which harness the visco-elastic properties of muscles to maintai…
Automated design of pneumatic soft grippers through design-dependent multi-material topology optimization
Josh Pinskier, Prabhat Kumar, Matthijs Langelaar +1
Soft robotic grasping has rapidly spread through the academic robotics community in recent years and pushed into industrial applications. At the same time, multimaterial 3D printin…
Jammkle: Fibre jamming 3D printed multi-material tendons and their application in a robotic ankle
James Brett, Katrina Lo Surdo, Lauren Hanson +2
Fibre jamming is a relatively new and understudied soft robotic mechanism that has previously found success when used in stiffness-tuneable arms and fingers. However, to date resea…