论文标题
滚子grasper V2的设计和控制
Design and Control of Roller Grasper V2 for In-Hand Manipulation
论文作者
论文摘要
进行手持操作的能力仍然是一个未解决的问题。具有此功能将使机器人能够执行需要重新定位和重新定位的复杂任务。在这项工作中，我们提出了一种新型的非人性化机器人Grasper，具有通过指尖处的活动表面来操纵物体的能力。主动表面是通过带有两个自由度（DOF）的球形滚动指尖来实现的 - 表面重新定位的旋转运动以及用于移动物体的连续滚动运动。每只手指的底部都有进一步的DOF，使手指可以在大小和形状范围内掌握物体。得出了瞬时的运动学，并通过自定义手工控制方案成功地操纵了对象，并且通过模仿，模拟和实验上的硬件学习。
The ability to perform in-hand manipulation still remains an unsolved problem; having this capability would allow robots to perform sophisticated tasks requiring repositioning and reorienting of grasped objects. In this work, we present a novel non-anthropomorphic robot grasper with the ability to manipulate objects by means of active surfaces at the fingertips. Active surfaces are achieved by spherical rolling fingertips with two degrees of freedom (DoF) -- a pivoting motion for surface reorientation -- and a continuous rolling motion for moving the object. A further DoF is in the base of each finger, allowing the fingers to grasp objects over a range of size and shapes. Instantaneous kinematics was derived and objects were successfully manipulated both with a custom handcrafted control scheme as well as one learned through imitation learning, in simulation and experimentally on the hardware.
