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Graph-Based Design of Soft Grippers with Multi-Objective Quality-Diversity Optimisation

arXiv · AI, language, vision and robotics · article · Sep 17, 2026 · UTC

Effective manipulation across diverse objects is critical for applications ranging from agricultural harvesting to laboratory and domestic automation. While the inherent compliance of soft robotics is well suited to this challenge, designing grippers that generalize across tasks remains difficult due to the vast design space of continuum mechanics and the risk of overfitting to specific scenarios. We propose a graph-based design space for representing soft structures and mechanisms, coupled with a multi-objective, diversity-driven genetic optimization framework that explicitly promotes solutio

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