Taxonomy and Modular Tool System for Versatile and Effective Non-Prehensile Manipulations

2025-12-11

AI Summary

General-purpose two-finger grippers exhibit limited functionality and poor adaptability for non-grasping manipulation tasks—such as pressing, wiping, and scraping—due to their fixed mechanical properties. Method: This paper introduces the first taxonomy of end-effector attributes specifically designed for non-grasping tasks and proposes a modular, physics-informed tool selection framework grounded in stiffness, friction, and other contact-relevant parameters. Leveraging mechanical design taxonomy modeling, standardized quick-change interfaces, and task-driven tool-task matching, we develop a lightweight, plug-and-play modular tool system compatible with existing robotic platforms without hardware modification. Contribution/Results: Evaluated in real-world applications—including aerospace seal inspection and household cleaning—the system significantly improves task success rate and operational robustness. It provides a scalable, reusable technical pathway to extend general-purpose grippers with versatile, contact-rich manipulation capabilities.

Technology Category

• Intelligent Robots: Manipulation
• Computer Vision: Multi-modal Vision
• Humans and AI: Interaction Techniques and Devices

Application Category

• Systems and Infrastructure for Web, Mobile and WoT: Experiences and lessons learnt from Web-based algorithms and system deployments
• Graph Algorithms and Modeling for the Web: Efficient manipulation of static and dynamic Web-related graphs
• Responsible Web: Machine-in-the-loop, human agency and autonomy

Abstract

General-purpose robotic end-effectors of limited complexity, like the parallel-jaw gripper, are appealing for their balance of simplicity and effectiveness in a wide range of manipulation tasks. However, while many such manipulators offer versatility in grasp-like interactions, they are not optimized for non-prehensile actions like pressing, rubbing, or scraping -- manipulations needed for many common tasks. To perform such tasks, humans use a range of different body parts or tools with different rigidity, friction, etc., according to the properties most effective for a given task. Here, we discuss a taxonomy for the key properties of a non-actuated end-effector, laying the groundwork for a systematic understanding of the affordances of non-prehensile manipulators. We then present a modular tool system, based on the taxonomy, that can be used by a standard two-fingered gripper to extend its versatility and effectiveness in performing such actions. We demonstrate the application of the tool system in aerospace and household scenarios that require a range of non-prehensile and prehensile manipulations.

Problem

• Develops taxonomy for non-actuated end-effector properties in non-prehensile manipulation
• Creates modular tool system to enhance two-fingered grippers' versatility for non-prehensile tasks
• Demonstrates tool system in aerospace and household scenarios requiring varied manipulations

Innovation

• Taxonomy for non-actuated end-effector key properties
• Modular tool system for two-fingered gripper versatility
• Extends non-prehensile actions like pressing, rubbing, scraping