ABSTRACT In this paper, we describe the approach of Team O2AS to complete the task-board task of the World Robot Challenge 2018, held in Tokyo. We use a custom gripper and graspable tools with in-built compliance to work with various kinds of parts, increase robustness against uncertainties, and to avoid complicated control strategies. The robots are able to finish all the sub-tasks without the need to exchange grippers. The main idea is to use mechanical compliance and self-centering mechanisms to deal with uncertainty. This is achieved by aligning the objects using either the gripper and tools, or by the design of the robot motions. GRAPHICAL ABSTRACT

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O2AS 团队为 2018 年世界机器人挑战赛任务板任务的方法

摘要 在本文中，我们描述了 Team O2AS 完成在东京举行的 2018 年世界机器人挑战赛任务板任务的方法。我们使用定制的夹具和具有内置合规性的可抓取工具来处理各种零件，提高对不确定性的鲁棒性，并避免复杂的控制策略。机器人无需更换夹具即可完成所有子任务。主要思想是使用机械顺从和自定心机制来处理不确定性。这是通过使用夹具和工具对齐物体，或通过机器人运动的设计来实现的。图形概要