Pick & Compact
Full litter collection cycle simulation
Detect
YOLO v3.2 identifies a plastic bottle at 2.3m — 97% confidence. Bounding box locked, classification confirmed against 50+ litter categories.
Grip Force
6.3N
Compression
70%
Bag Fill
34%
Items / Hour
210items
Gripper System
3-Finger Silicone Gripper
Three soft silicone fingers with embedded strain gauges provide compliant grasping across irregular shapes. The 120-degree symmetric layout ensures stable tri-point contact on bottles, cans, wrappers, and organic debris. Silicone durometer (Shore 30A) is tuned for grip without crushing thin aluminum.
Adaptive Grip Control
A closed-loop PID controller adjusts finger pressure in real-time based on object classification. Rigid items (glass bottles) get firm 8N grip; deformable items (paper cups) get gentle 3N contact. Slip detection via vibration sensors triggers automatic re-grip in under 50ms — maintaining hold on wet or irregular surfaces.
Bag Cassette & Compression
The Bag Cassette System uses replaceable cartridges containing 20-30 collection bags. An X-shaped raising frame holds each bag open during collection. The gripper arm periodically presses down to compress contents. When a bag is full, a snap-close mechanism seals it, the frame lowers, and the robot drops the sealed bag at the nearest curb for municipal pickup. The frame rises with a fresh bag from the cassette and collection continues.
| Spec | Value |
|---|---|
| Gripper type | 3-finger adaptive silicone |
| Finger material | Shore 30A silicone w/ strain gauges |
| Max grip force | 12N per finger (36N total) |
| Grip response time | < 200ms close, < 50ms re-grip |
| Compression | Gripper arm press-down into bag |
| Bag Cassette | 20-30 bags per cartridge |
| Curb Drop | Sealed bags at municipal collection points |
| Items per charge | 200+ across mixed litter types |
| Integration | Works with existing waste pickup infrastructure |
This is a simulated demo. In production, gripper telemetry streams from deployed CleanWalker robots via onboard force sensors and ROS2 control nodes.
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