Rostok Framework: Automating Underactuated Robot Gripper Design
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III. Generation of Tendon Driven Grippers
V. CONCLUSION
This paper explores the intricate process of designing robots, emphasizing the convergence of hardware and software in complex, conflicting criteria. We introduced a novel approach combining morphological computation, according to which the major portion of robots’ desired behavior can be achieved with the “body” instead of the “brain”, and generative design, highlighting the potential of automatic design for underactuated tendon-driven grippers, with opensource framework details and comprehensive testing results. The result of the “rostok”[2] pipeline for the task of generating tendon driven grippers is the set of designs with top rewards. The designs were thoroughly tested in a physical setup to ensure their ability to accurately reproduce the simulated kinematics and securely hold the object in place.
REFERENCES
[1] Y. Sun, J. Falco, M. A....
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