ChicGrasp

Imitation learning for manipulation of delicate, irregular bio-products.

ChicGrasp combines a UR10e robot, an independently actuated dual-jaw pneumatic gripper, multi-view observations, and a diffusion policy trained from human demonstrations. The system studies robotic grasping and handling of irregular, deformable poultry objects.

ChicGrasp demonstration: the robot positions its custom gripper around a poultry carcass and lifts it. Video from the original research portfolio.
Journal article ↗Full project website ↗GitHub ↗

Publication

2026

  1. Adv. Robot. Res. Figure from ChicGrasp: Imitation-Learning-Based Customized Dual-Jaw Gripper Control for Manipulation of Delicate, Irregular Bio-Products
    ChicGrasp: Imitation-Learning-Based Customized Dual-Jaw Gripper Control for Manipulation of Delicate, Irregular Bio-Products
    Amirreza Davar, Zhengtong Xu, Siavash Mahmoudi, Pouya Sohrabipour, Chaitanya Pallerla, Yu She, Wan Shou, Philip Glen Crandall, Dongyi Wang
    Advanced Robotics Research, 2026
    Paper ↗ Code ↗ Project ↗
    BibTeX 
    @article{davar2026chicgrasp,
  title = {ChicGrasp: Imitation-Learning-Based Customized Dual-Jaw Gripper Control for Manipulation of Delicate, Irregular Bio-Products},
  author = {Davar, Amirreza and Xu, Zhengtong and Mahmoudi, Siavash and Sohrabipour, Pouya and Pallerla, Chaitanya and She, Yu and Shou, Wan and Crandall, Philip Glen and Wang, Dongyi},
  journal = {Advanced Robotics Research},
  year = {2026},
  doi = {10.1002/adrr.202500149},
  html = {https://doi.org/10.1002/adrr.202500149},
  code = {https://github.com/AmirrezaDavar/ChicGrasp},
  website = {https://amirrezadavar.github.io/ChicGrasp/},
  preview = {chicgrasp-journal.jpg},
  selected = {true},
  bibtex_show = {true},
  abbr = {Adv. Robot. Res.}
}