Abstract: Robotic manipulation of flexible objects is widely required in both industrial and service applications. Among such objects, paper-like materials exhibit distinct mechanical characteristics compared to cloth, being more sensitive to compressive stress, where minor variations in physical properties can significantly affect grasping. This study systematically investigates grasping strategies for paper-like materials using a universal soft gripper by exploiting environmental constraints. Based on manipulation primitives employed in existing grasping strategies, we proposed systematic grasping strategies for flexible materials by exploiting environmental constraints and analyzed their mechanical and kinematic models. To investigate the influence of materials and working conditions on grasping, an evaluation system for measuring grasping force and success rate was defined and experimentally evaluated. Finally, we summarized the specific workspaces and characteristics of different strategies that can satisfy various task requirements and lead to potential applications in household service robots for grasping planar flexible objects.

Key words: Flexible materials')">Flexible materials, Environmental constraints, Soft gripper