论文标题
控制和实施流体驱动的软抓地力，并具有动态不确定性
Control and implementation of fluid-driven soft gripper with dynamic uncertainty of object
论文作者
论文摘要
软握手，用于稳定的物体抓紧，具有很高合规性可以被认为是替代常规刚性握手的合适候选者，近年来，它们在行业中呈指数成倍增长。这些高度适应性的握手不仅能够静态抓握对象，而且还可以用于执行对象操纵任务。大量当代研究一直在强调软抓手的静态抓地力。但是，在本文中，研究了一个软手指的软手指中的平面物体操纵。
Soft grippers, for stable grasping of objects, with high compliance could be considered a suitable candidate for replacement of conventional rigid grippers, and in recent years, they have been emerging exponentially in industries. Not only are these highly adaptable grippers capable of static grasping of an object, but also they can be utilized for performing object manipulation tasks. Plenty of contemporary studies have been emphasizing on static grasping ability of soft grippers. However, in this thesis, planar in-hand object manipulation in a soft gripper which comprises a pair of soft finger is investigated.
