MOGrip:用手指的转移动作来进行选择和放置任务的多物体抓握手柄
Jaemin Eom1, Sung Yol Yu1, Woongbae Kim2,3
1Biorobotics Laboratory, Soft Robotics Research Center, Institute of Advanced Machines and Design, Department of Mechanical Engineering, Institute of Engineering, Seoul National University, Seoul 08826, Republic of Korea.
Science robotics
|December 11, 2024
概括
这项研究引入了一种具有翻译性手指运动的新型抓手,模仿人类的灵敏度,以高效地抓取多个对象和选择和放置任务. 抓手通过整合手掌存储与精确的手指放置来增强操纵能力.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 生物仿真工程 生物仿真工程
- 机械工程 机械工程
背景情况:
- 人类表现出先进的多物体抓取,使用灵巧的手指和适应的手掌.
- 转移式运动 (手指到手掌和手掌到手指) 通过使物体存储和自由手指操纵,增强抓取灵活性.
- 传统的抓手器缺乏集成的手掌存储和精确的手指放置能力.
研究的目的:
- 推出一种用于多物体抓取的新型抓手,其中包括翻译性手指运动.
- 为了利用手指和手掌的协同使用,以增强选择和放置功能.
- 设计和验证一个带有集成物体存储和精确放置的抓手.
主要方法:
- 开发了一种由四个手指和一个自适应式输送手掌组成的抓手.
- 实现了对象的顺序抓取和从手指转移到手掌,以便同时存储.
- 设计了一种逆流程,使手指可以单独取出和放置存储的物体.
主要成果:
- 验证的指纹设计用于对象翻译和手掌设计用于同时存储对象.
- 通过翻译性手指动作表现出增强的选择和放置能力.
- 在多对象操作任务中展示了显著的时间效率.
结论:
- 拟议的抓手有效地模仿了人类在多物体抓取方面的灵巧.
- 手指翻译显著提高了抓手机的功能和适用性.
- 开发的抓手展示了先进机器人操纵和自动化的潜力.
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