论文标题
基于折纸的形状变形指尖以增强抓握稳定性和灵巧性
Origami-based Shape Morphing Fingertip to Enhance Grasping Stability and Dexterity
论文作者
论文摘要
适应各种场景配置和对象属性，机器人抓手操纵中的稳定性和敏捷性远远不够探索。这项工作提出了一种基于折纸的形状变形指尖设计，以积极解决抓握稳定性和敏捷问题。提议的指尖利用折纸作为其骨骼在所需的位置和电动机驱动的四键链接作为透射组件提供的自由度，以达到指尖的紧凑尺寸。使用几何建模研究并验证了3种通常观察到和在机器人抓钩中必不可少的变形类型。实现了与传统的平行抓手相比，实现了与凸起的对象接触，包括抓住一个具有凸点点接触的物体，抓紧枢轴，抓握对象的重新定位以及用凹面指尖握住的对象，用凹面指尖表面抓住抓手表面。在不同的掌握对象和操纵任务的情况下，通过主动适应增强抓地力稳定性和灵巧性的多功能性是合理的。视频可在youtu.be/jjoj3xnddvk/上找到。
Adaptation to various scene configurations and object properties, stability and dexterity in robotic grasping manipulation is far from explored. This work presents an origami-based shape morphing fingertip design to actively tackle the grasping stability and dexterity problems. The proposed fingertip utilizes origami as its skeleton providing degrees of freedom at desired positions and motor-driven four-bar-linkages as its transmission components to achieve a compact size of the fingertip. 3 morphing types that are commonly observed and essential in robotic grasping are studied and validated with geometrical modeling. Experiments including grasping an object with convex point contact to pivot or do pinch grasping, grasped object reorientation, and enveloping grasping with concave fingertip surfaces are implemented to demonstrate the advantages of our fingertip compared to conventional parallel grippers. Multi-functionality on enhancing grasping stability and dexterity via active adaptation given different grasped objects and manipulation tasks are justified. Video is available at youtu.be/jJoJ3xnDdVk/.
