Synthesis, Design, and Experimental Validation of an Agile Wrist for Enhanced Grasping and Manipulation in Cluttered Environments: An Experimental Evaluation With a Challenging Pick-and-Place Task
Bibliographic record
Abstract
In many practical cases, such as in logistics applications, grasping and manipulation of objects must be carried out in confined spaces with obstacles. Limited room is then available to maneuver, and robotic devices can lack dexterity or be impaired by their size when performing in such cluttered environments. In this article, we address this issue by proposing a novel agile wrist based on a rolling joint with a ± 180° range of motion (ROM). This wrist is designed to maneuver in confined spaces and in particular access hard-to-reach areas through entry apertures, while allowing the use of constraining grasping methods, such as scooping. The architecture of this device is discussed, and a prototype is built. A dedicated trajectory planning strategy based on a virtual center of motion is proposed, and an experimental evaluation with a challenging pick-and-place task is carried out.
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How this classification was reachedexpand
Full frame machine prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. The Gemma side is a direct model label for every work in the frame, read from the title-only record. The Codex side is a classifier learned from the 10,348 direct Codex labels and calibrated to design-weighted sample rates; fields without enough sample support carry no Codex call. Candidate is the union of the two sides; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels.
Distilled classifier scores by category (both heads)
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.001 | 0.001 |
| Meta-epidemiology (narrow) | 0.001 | 0.000 |
| Meta-epidemiology (broad) | 0.001 | 0.000 |
| Bibliometrics | 0.001 | 0.000 |
| Science and technology studies | 0.000 | 0.001 |
| Scholarly communication | 0.001 | 0.000 |
| Open science | 0.001 | 0.001 |
| Research integrity | 0.001 | 0.000 |
| Insufficient payload (model declined to judge) | 0.002 | 0.001 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from itClassification
machine, unvalidatedMachine predicted; a candidate call from one source (direct Gemma or distilled Codex), not a consensus.
How this classification was reached, model by model and score by score, is at the end of the page under "How this classification was reached".