Characterization of Soft Structures for Synergy-Based Performance Optimization in Robotic Grasping and Other Manipulation Tasks
Author(s)
Fox, Elizabeth
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Abstract
Robotic grasping is a significant area of study, and reduction in its mechanical and control complexity is of great interest for use in wearable devices, teleoperated devices, as well as fully autonomous devices. This work aims to demonstrate efficient and reliable methods for mechanical complexity reduction using fully-characterized soft robotics and advanced modeling techniques, and to combine that reduction with a methodology for reducing the dimensionality of the control problem using techniques based on synergy control and a novel method for generating an optimal synergy matrix for an arbitrary gripper. Finally, correlations between design, physical characteristics like compliance and soft actuator properties, and gripper performance will be gathered and used to create a high-performance robotic grasper with minimal actuation and controls complexity.
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Date
2023-07-25
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Text
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Dissertation