ScoopSH

Simulation-Driven Evolutionary Motion Parameterization for Contact-Rich Granular Scooping with a Soft Conical Robotic Hand

Yongliang Wang 1, 2, Cristian C. Beltran-Hernandez 1, Tomoya Takahashi 1, and Masashi Hamaya 1

IEEE International Conference on Robotics and Automation (ICRA), 2026

1OMRON SINIC X Corporation, Tokyo, Japan

2Interactive Robot Learning Laboratory (IRL-Lab), Department of Artificial Intelligence, Bernoulli Institute, University of Groningen

Paper

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Presentation

Abstract

Tool-based scooping is vital in robot-assisted tasks, enabling interaction with objects of varying sizes, shapes, and material states. Recent studies have shown that flexible, reconfigurable soft robotic end-effectors can adapt their shape to maintain consistent contact with container surfaces during scooping, improving efficiency compared to rigid tools. These soft tools can adjust to varying container sizes and materials without requiring complex sensing or control. However, the inherent compliance and complex deformation behavior of soft robotics introduce significant control complexity that limits practical applications. To address this challenge, this paper presents the development of a high-fidelity simulation model of a deformable soft conical robotic hand that captures its passive reconfiguration dynamics and enables systematic trajectory optimization for scooping tasks. We propose a novel physics-based simulation approach that accurately models the soft tool's morphing behavior from flat sheets to adaptive conical structures, combined with an evolutionary strategy framework that automatically optimizes scooping trajectories without manual parameter tuning. We validate the optimized trajectories through both simulation and real-robot experiments. The results demonstrate strong generalization and successfully address a range of challenging tasks previously beyond the reach of existing approaches.

Motivation

Method

method_1.mp4

Experiments

exp_sim.mp4

exp_real_1.mp4

exp_real_2.mp4

exp_real_3.mp4

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