TY - GEN
T1 - Lip-Inspired Passive Jamming Gripper with Teeth Structure
AU - Hong, Jooyoung
AU - Shin, Kazuki
AU - Mathur, Dhruv C.
AU - Yamsani, Sankalp
AU - Yim, Joohee
AU - Kim, Joohyung
N1 - Publisher Copyright:
© 2023 IEEE.
PY - 2023
Y1 - 2023
N2 - In this paper, we propose a lip-inspired passive jamming gripper by mimicking teeth structures from a dog's oral structure. Animal lips are hydrostatic structures. To mimic the features, which are usually soft but rigid when contacted, we used the passive particle jamming effect. To increase the adaptability of our previous gripper to grasp various shaped objects, we focused on the dogs' oral structure and holding behaviors. Dogs use spaces inside their mouths to hold sticks firmly when moving. The grasping force of the upgraded gripper was improved by generating teeth structures with the mimicked lip structures. Experiments were conducted to demonstrate the grasping ability of the gripper with the teeth structures by comparing it to other types of grippers with cylindrical and cuboid objects of various dimensions. We also showed that the proposed gripper could hold daily kitchen objects better than the previous version gripper by using closing lip-pouches.
AB - In this paper, we propose a lip-inspired passive jamming gripper by mimicking teeth structures from a dog's oral structure. Animal lips are hydrostatic structures. To mimic the features, which are usually soft but rigid when contacted, we used the passive particle jamming effect. To increase the adaptability of our previous gripper to grasp various shaped objects, we focused on the dogs' oral structure and holding behaviors. Dogs use spaces inside their mouths to hold sticks firmly when moving. The grasping force of the upgraded gripper was improved by generating teeth structures with the mimicked lip structures. Experiments were conducted to demonstrate the grasping ability of the gripper with the teeth structures by comparing it to other types of grippers with cylindrical and cuboid objects of various dimensions. We also showed that the proposed gripper could hold daily kitchen objects better than the previous version gripper by using closing lip-pouches.
UR - http://www.scopus.com/inward/record.url?scp=85182522617&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85182522617&partnerID=8YFLogxK
U2 - 10.1109/IROS55552.2023.10342175
DO - 10.1109/IROS55552.2023.10342175
M3 - Conference contribution
AN - SCOPUS:85182522617
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 4518
EP - 4524
BT - 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2023
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2023
Y2 - 1 October 2023 through 5 October 2023
ER -