GAgent: An Adaptive Rigid-Soft Gripping Agent with Vision Language Models for Complex Lighting Environments

Abstract

This paper introduces GAgent: an Gripping Agent designed for open-world environments that provides advanced cognitive abilities via VLM agents and flexible grasping abilities with variable stiffness soft grippers. GAgent comprises three primary components - Prompt Engineer module, Visual-Language Model (VLM) core and Workflow module. These three modules enhance gripper success rates by recognizing objects and materials and accurately estimating grasp area even under challenging lighting conditions. As part of creativity, researchers also created a bionic hybrid soft gripper with variable stiffness capable of gripping heavy loads while still gently engaging objects. This intelligent agent, featuring VLM-based cognitive processing with bionic design, shows promise as it could potentially benefit UAVs in various scenarios.