Active entanglement enables stochastic, topological grasping

被引：69

作者：

Becker, Kaitlyn ^{[1
,2
]}

Teeple, Clark ^{[1
]}

Charles, Nicholas ^{[1
]}

Jung, Yeonsu ^{[1
]}

Baum, Daniel ^{[3
]}

Weaver, James C. ^{[1
,4
]}

Mahadevan, L. ^{[1
,5
,6
]}

Wood, Robert ^{[1
]}

机构：

[1] Harvard Univ, Sch Engn & Appl Sci, Cambridge, MA 02138 USA

[2] MIT, Dept Mech Engn, Cambridge, MA 02139 USA

[3] Zuse Inst Berlin, Dept Visual & Data Ctr Comp, D-14195 Berlin, Germany

[4] Harvard Univ, Wyss Inst Biol Inspired Engn, Cambridge, MA 02138 USA

[5] Harvard Univ, Dept Phys, Cambridge, MA 02138 USA

[6] Harvard Univ, Dept Organism & Evolutionary Biol, Cambridge, MA 02138 USA

来源：

PROCEEDINGS OF THE NATIONAL ACADEMY OF SCIENCES OF THE UNITED STATES OF AMERICA | 2022年 / 119卷 / 42期

基金：

新加坡国家研究基金会;

关键词：

filaments; entanglement; soft robots; soft robotic grasping; soft actuators; DESIGN; COMPLIANT; HAND; STABILITY;

D O I：

10.1073/pnas.2209819119

中图分类号：

O [数理科学和化学]; P [天文学、地球科学]; Q [生物科学]; N [自然科学总论];

学科分类号：

07 ; 0710 ; 09 ;

摘要：

Grasping, in both biological and engineered mechanisms, can be highly sensitive to the 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.

引用

页数：1

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