IEEE - Institute of Electrical and Electronics Engineers, Inc. - A Positive Pressure Universal Gripper Based on the Jamming of Granular Material

Author(s): J. R. Amend ; E. M. Brown ; N. Rodenberg ; H. M. Jaeger ; H. Lipson
Sponsor(s): IEEE Robotics and Automation Society
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 April 2012
Volume: 28
Page Count: 10
Page(s): 341 - 350
ISSN (Paper): 1552-3098
ISSN (Online): 1941-0468
DOI: 10.1109/TRO.2011.2171093
Regular:

We describe a simple passive universal gripper, consisting of a mass of granular material encased in an elastic membrane. Using a combination of positive and negative pressure, the gripper can... View More

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