Fig. 1: An anthropomorphic robot hand designed with biomimetic spatial distribution of stiffness leads to a emergence of robust and self-organizing behavior.
From: Spatially distributed biomimetic compliance enables robust anthropomorphic robotic manipulation
A The ADAPT Hand is compliant in its skin, finger, and wrist, which operate in different lengths scales, 0.1 cm, 1 cm, and 10 cm respectively. B Through a small number of identical open-loop waypoints, the hand can grasp objects of largely varying geometry successfully. The distributed stiffness allows for the hand to be robust upon unknown environmental interactions, and a self-organization to take place between the hand and objects, resulting in different grasps. C A diagram to illustrate how the different stiffness elements affect environmental interaction in different ways which complement each other.
