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Graph."],"published-print":{"date-parts":[[2022,7]]},"abstract":"<jats:p>This work proposes a novel generative design tool for passive grippers---robot end effectors that have no additional actuation and instead leverage the existing degrees of freedom in a robotic arm to perform grasping tasks. Passive grippers are used because they offer interesting trade-offs between cost and capabilities. However, existing designs are limited in the types of shapes that can be grasped. This work proposes to use rapid-manufacturing and design optimization to expand the space of shapes that can be passively grasped. Our novel generative design algorithm takes in an object and its positioning with respect to a robotic arm and generates a 3D printable passive gripper that can stably pick the object up. To achieve this, we address the key challenge of jointly optimizing the shape and the insert trajectory to ensure a passively stable grasp. We evaluate our method on a testing suite of 22 objects (23 experiments), all of which were evaluated with physical experiments to bridge the virtual-to-real gap. Code and data are at https:\/\/homes.cs.washington.edu\/~milink\/passive-gripper\/<\/jats:p>","DOI":"10.1145\/3528223.3530162","type":"journal-article","created":{"date-parts":[[2022,7,22]],"date-time":"2022-07-22T21:06:27Z","timestamp":1658523987000},"page":"2-12","update-policy":"https:\/\/doi.org\/10.1145\/crossmark-policy","source":"Crossref","is-referenced-by-count":14,"title":["Computational design of passive grippers"],"prefix":"10.1145","volume":"41","author":[{"given":"Milin","family":"Kodnongbua","sequence":"first","affiliation":[{"name":"University of Washington"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Ian","family":"Good","sequence":"additional","affiliation":[{"name":"University of Washington"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Yu","family":"Lou","sequence":"additional","affiliation":[{"name":"University of Washington"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jeffrey","family":"Lipton","sequence":"additional","affiliation":[{"name":"University of Washington"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Adriana","family":"Schulz","sequence":"additional","affiliation":[{"name":"University of Washington"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"320","published-online":{"date-parts":[[2022,7,22]]},"reference":[{"key":"e_1_2_2_1_1","volume-title":"Topology optimization: theory, methods, and applications","author":"Bendsoe Martin Philip","unstructured":"Martin Philip Bendsoe and Ole Sigmund. 2003. 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