Combining and Decoupling Rigid and Soft Grippers to Enhance Robotic Manipulation.

Maya Keely, Yeunhee Kim, Shaunak A Mehta, Joshua Hoegerman, Robert Ramirez Sanchez, Emily Paul, Camryn Mills, Dylan P Losey, Michael D Bartlett
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Abstract

For robot arms to perform everyday tasks in unstructured environments, these robots must be able to manipulate a diverse range of objects. Today's robots often grasp objects with either soft grippers or rigid end-effectors. However, purely rigid or purely soft grippers have fundamental limitations as follows: soft grippers struggle with irregular heavy objects, whereas rigid grippers often cannot grasp small numerous items. In this article, we therefore introduce RISOs, a mechanics and controls approach for unifying traditional RIgid end-effectors with a novel class of SOft adhesives. When grasping an object, RISOs can use either the rigid end-effector (pinching the item between nondeformable fingers) and/or the soft materials (attaching and releasing items with switchable adhesives). This enhances manipulation capabilities by combining and decoupling rigid and soft mechanisms. With RISOs, robots can perform grasps along a spectrum from fully rigid, to fully soft, to rigid-soft, enabling real-time object manipulation across a 1.5 million times range in weight (from 2 mg to 2.9 kg). To develop RISOs, we first model and characterize the soft switchable adhesives. We then mount sheets of these soft adhesives on the surfaces of rigid end-effectors and develop control strategies that make it easier for robot arms and human operators to utilize RISOs. The resulting RISO grippers were able to pick up, carry, and release a larger set of objects than existing grippers, and participants also preferred using RISO. Overall, our experimental and user study results suggest that RISOs provide an exceptional gripper range in both capacity and object diversity.

结合并解耦刚性和软性机械手,增强机器人操纵能力
为了让机器人手臂在非结构化环境中执行日常任务,这些机器人必须能够操纵各种各样的物体。今天的机器人通常用软爪或刚性末端执行器来抓取物体。然而,纯刚性或纯软夹持器具有以下基本局限性:软夹持器难以抓取不规则的重物,而刚性夹持器通常无法抓取小而多的物品。因此,在本文中,我们介绍了RISOs,这是一种将传统的刚性末端执行器与新型软胶粘剂统一起来的力学和控制方法。当抓取物体时,riso可以使用刚性末端执行器(用不可变形的手指夹住物体)和/或软材料(用可切换的粘合剂附着和释放物体)。这通过结合和解耦刚性和软机构来增强操作能力。有了RISOs,机器人可以执行从完全刚性到完全软到刚软的抓握,实现150万倍重量范围内的实时物体操作(从2毫克到2.9公斤)。为了开发RISOs,我们首先对软可切换粘合剂进行建模和表征。然后,我们将这些软粘合剂片安装在刚性末端执行器的表面上,并制定控制策略,使机器人手臂和人类操作员更容易使用RISOs。由此产生的RISO抓取器比现有的抓取器能够抓取、携带和释放更多的物体,参与者也更喜欢使用RISO。总的来说,我们的实验和用户研究结果表明,riso在容量和对象多样性方面都提供了一个特殊的抓手范围。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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