仿人机器人柔顺力觉夹持垫的设计、校准与控制

IF 2.2 4区计算机科学 Q2 ENGINEERING, MECHANICAL

Journal of Mechanisms and Robotics-Transactions of the Asme Pub Date : 2023-04-05 DOI:10.1115/1.4062273

Yuanfeng Han, Boren Jiang, G. Chirikjian

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引用次数: 1

摘要

本文介绍了一种低成本、轻重量的柔性抓握垫设计，用于小型仿人机器人操纵箱形物体。这些垫片测量夹紧力和压力中心。针对这些焊盘提出了一种校准算法。提出了一种混合力对准位置控制系统来调节夹持力并确保夹持器和物体之间的表面对准。极限表面理论作为一种接触摩擦建模方法，用于确定避免滑动的夹紧力。以NAO仿人机器人为例，对其软硬件集成系统进行了仿真验证。衬垫设计和相关软件是开源的。实验证明了整体方法的有效性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

查看原文本刊更多论文

Design, Calibration, and Control of Compliant Force-sensing Gripping Pads for Humanoid Robots

This paper introduces a low-cost and light weight design for compliant gripping pads to be used for manipulating box-like objects with smaller sized humanoid robots. These pads measure gripping forces and center of pressure. A calibration algorithm is presented for these pads. A hybrid force-alignment-position control system is proposed to regulate the gripping forces and to ensure the surface alignment between the grippers and the object. Limit surface theory is incorporated as a contact friction modeling approach to determine the gripping forces for slippage avoidance. The integrated hardware and software system is demonstrated with a NAO humanoid robot. The pad design and associated software is open sourced. Experiments show the effectiveness of the overall approach.

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来源期刊

Journal of Mechanisms and Robotics-Transactions of the Asme ENGINEERING, MECHANICAL-ROBOTICS

CiteScore

5.60

自引率

15.40%

发文量

131

审稿时长

4.5 months

期刊介绍： Fundamental theory, algorithms, design, manufacture, and experimental validation for mechanisms and robots; Theoretical and applied kinematics; Mechanism synthesis and design; Analysis and design of robot manipulators, hands and legs, soft robotics, compliant mechanisms, origami and folded robots, printed robots, and haptic devices; Novel fabrication; Actuation and control techniques for mechanisms and robotics; Bio-inspired approaches to mechanism and robot design; Mechanics and design of micro- and nano-scale devices.