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A Variable-Structure Robot Hand That Uses the Environment to Achieve General Purpose Grasps
IEEE Robotics and Automation Letters ( IF 5.2 ) Pub Date : 2020-07-01 , DOI: 10.1109/lra.2020.3003885
Yoav Golan , Amir Shapiro , Elon D. Rimon

Modern robotic grippers are either specialized and simple, complex and general purpose, or soft and compliant hands. The first provide high reliability but are limited in the range of objects they grasp. Compliant or soft grippers can grasp wide ranges of objects, but are not yet reliable enough for real-world applications. This letter presents a novel variable-structure general purpose robotic hand. The planar-acting hand has a minimalistic structure that can adapt itself against the environment to fit a wide range of objects. The single motor, multi-finger hand utilizes a novel principle of re-arranging its structure prior to grasping. This is achieved by pressing the hand against the environment and performing a series of adjustment moves, to best suit the hand for the object to be grasped. The design and method of operation of the hand is explained. Then, a technique for determining the set of adjustments needed to re-arrange the hand according to the desired grasp is sketched. Real-world experiments are performed with the hand, showing its ability to re-arrange itself and grasp previously unseen objects. Source code for the simulations and experiments is supplemented to the paper, as well as a video clip of the variable-structure hand in action.

中文翻译:

利用环境实现通用抓取的可变结构机械手

现代机器人抓手要么是专业的、简单的、复杂的、通用的,要么是柔软而顺从的手。第一个提供高可靠性,但在它们抓取的对象范围内受到限制。兼容或柔软的抓手可以抓取范围广泛的物体,但对于实际应用来说还不够可靠。这封信展示了一种新颖的可变结构通用机械手。平面动作手具有简约的结构,可以适应环境以适应各种物体。单电机多指手利用一种新颖的原理,在抓握之前重新安排其结构。这是通过将手压在环境上并执行一系列调整动作来实现的,以最适合要抓握的物体的手。解释了手的设计和操作方法。然后,勾勒出根据所需的抓握来确定重新排列手所需的一组调整的技术。真实世界的实验是用手进行的,展示了它重新排列自己和抓住以前看不见的物体的能力。论文补充了模拟和实验的源代码,以及可变结构动手操作的视频剪辑。
更新日期:2020-07-01
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