Beyond jamming grippers: granular material in robotics

Abstract

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.