A deformable soft conical hand is modeled in physics simulation and its scooping trajectories are optimized via evolutionary search, enabling effective contact-rich granular tasks validated in both simulation and physical robot experiments.
Dexgrip: Multi- modal soft gripper with dexterous grasping and in-hand manipulation capacity
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Simulation-Driven Evolutionary Motion Parameterization for Contact-Rich Granular Scooping with a Soft Conical Robotic Hand
A deformable soft conical hand is modeled in physics simulation and its scooping trajectories are optimized via evolutionary search, enabling effective contact-rich granular tasks validated in both simulation and physical robot experiments.