Tools for robust mobile manipulation, the kind way

softgraspSoftGrasp is a set of tools and a control system aimed at providing innovative dexterous and robust (underwater and open-ended) environment mobile manipulation and grasping capabilities.

They aims to exploit cutting edge basic research in manipulation, mechanics and stochastic kinematics to obtain breakthrough features in much needed novel design soft-arm mobile manipulation systems.

Some preliminary simulation results are shown and discussed. In our design the ‘reaching behaviors' are not to be pre-designed, their instantiation builds and expands on recently proposed techniques and using belief space-planning maximum likelihood observations.

The mathematical models developed in this project may shortly allow to mimic the climbing behaviors of animals such as the gibbons which actually exploit their dynamics while climbing.