Example of a robotic bin-to-bin application where the deformation of an active bellow suction cup is clearly visible. Our proposed model allows to accurately predict this deformation enabling new robotic manipulation tasks. The particular shows the parts of a suction cup: 1) Fitting 2) Bellows 3) Lip.

Researchers propose a compact 6D suction cup model that reduces parameter count from 21 to just 5 via symmetry reduction, achieving ~5 mm and 3° accuracy and robust force estimation even at 60° gripper tilt.
ieeexplore.ieee.org/document/109...

#RobotSensingSystems #RobotManipulator