Beyond jamming grippers: Granular material in robotics

Han Li, Jin Sun, J. Michael Herrmann*

*Corresponding author for this work

Research output: Contribution to journalLiterature reviewpeer-review

Abstract / Description of output

Robot grippers based on the jamming of granular material have been studied widely in previous years. Recently, also other benefits and challenges of granular material have emerged for robotics. We discuss various functions of granular matter in robotic actuation, sensory processing, locomotion, and manipulation. We also provide a review of the design and methods of robots for moving in or on challenging granular environments. Drawing on the properties of granular material and their potential applications, we propose our unique perspectives and innovative ideas for future research and development in this field.
Original languageEnglish
JournalAdvanced Robotics
Early online date21 May 2024
Publication statusE-pub ahead of print - 21 May 2024

Keywords / Materials (for Non-textual outputs)

  • granular matter
  • soft robotics
  • jamming grippers
  • shock absorption
  • robot design


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