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Active Surface-Driven Reconfigurable Gripper: Robust Grasping and Sequential Manipulation of Thin Objects

arXiv · AI, language, vision and robotics · article · Aug 27, 2026 · UTC

Robotic grippers face substantial challenges in grasping and manipulating thin objects. Most existing grippers rely on highly precise approach and grasp motions, which limits robustness and reduces applicability. This paper explores thin-object grasping using books as a representative example. Here, we propose a novel solution that integrates an active surface with underactuated compliance to achieve stable grasping of thin objects without complex control. First, an underactuated gripper with an active surface is designed. The active-surface thumb performs in-hand repositioning of the target b

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