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Cited by 314

The DOI matches its Crossref record; 10 of the 10 references it cites were found in a registry or an index.

Design and Analysis of a Robust, Low-cost, Highly Articulated manipulator enabled by jamming of granular media

Open access
Cheng, Nadia G., Lobovsky, Maxim B., Keating, Steven J., Setapen, Adam M., Gero, Katy I., Hosoi, Anette E., Iagnemma, Karl D.·2012·2012 IEEE International Conference on Robotics and Automation
DOI 10.1109/icra.2012.6225373
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Abstract

Hyper-redundant manipulators can be fragile, expensive, and limited in their flexibility due to the distributed and bulky actuators that are typically used to achieve the precision and degrees of freedom (DOFs) required. Here, a manipulator is proposed that is robust, high-force, low-cost, and highly articulated without employing traditional actuators mounted at the manipulator joints. Rather, local tunable stiffness is coupled with off-board spooler motors and tension cables to achieve complex manipulator configurations. Tunable stiffness is achieved by reversible jamming of granular media, which—by applying a vacuum to enclosed grains—causes the grains to transition between solid-like states and liquid-like ones. Experimental studies were conducted to identify grains with high strength-to-weight performance. A prototype of the manipulator is presented with performance analysis, with emphasis on speed, strength, and articulation. This novel design for a manipulator—and use of jamming for robotic applications in general—could greatly benefit applications such as human-safe robotics and systems in which robots need to exhibit high flexibility to conform to their environments.

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Metadata

Authors
Cheng, N. G., Lobovsky, M. B., Keating, S. J., Setapen, A. M., Gero, K. I., Hosoi, A. E., & Iagnemma, K. D.
Venue
2012 IEEE International Conference on Robotics and Automation
Publisher
IEEE
Published
2012-05
Pages
4328-4333
ISSN
1050-4729 (ISSN-L)
DOI
10.1109/icra.2012.6225373
OpenAlex
W2036723211
Cited by
314
References
10
FWCI
38.56
Type
conference paper
Language
en
Open access
green

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CoChat. (2026). Citation check: Design and Analysis of a Robust, Low-cost, Highly Articulated manipulator enabled by jamming of granular media. https://app.cochat.ai/papers/10.1109/icra.2012.6225373
The paper
Cheng, N. G., Lobovsky, M. B., Keating, S. J., Setapen, A. M., Gero, K. I., Hosoi, A. E., & Iagnemma, K. D. (2012). Design and Analysis of a Robust, Low-cost, Highly Articulated manipulator enabled by jamming of granular media. 2012 IEEE International Conference on Robotics and Automation. https://doi.org/10.1109/icra.2012.6225373

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