A Support-Enhanced Granular-Jamming Gripper for RL-based Grasping with Continuum Manipulators

arXiv:2609.29093 · cs.RO · Submitted 2026-09-24 · Read on arXiv

cs.RO

Submitted: 2026-09-24

Updated: 2026-09-25

Comments: 8 pages, 10 figures

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

• Hysteresis — 4× in this paper · explained in 3 episodes
• Adaptation — 3× in this paper · explained in 1 episode
• Fine-Tuning — 3× in this paper · explained in 5 episodes
• Adaptability — 2× in this paper · explained in 1 episode
• Reinforcement Learning — 2× in this paper · explained in 4 episodes
• Accuracy — 1× in this paper · explained in 1 episode
• Alignment — 1× in this paper · explained in 1 episode
• Benchmark — 1× in this paper · explained in 2 episodes
• Generative AI — 1× in this paper · explained in 2 episodes
• Proximal Policy Optimization (PPO) — 1× in this paper · explained in 4 episodes
• Sim-to-Real Transfer — 1× in this paper · explained in 2 episodes
• Zero-Shot Transfer — 1× in this paper · explained in 3 episodes

Sources

• Proximal Policy Optimization Algorithms

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