用模块化的可折叠机器人进行基于表面的操纵
Ziqiao Wang1, Serhat Demirtas1, Fabio Zuliani1
1Reconfigurable Robotics Lab (RRL), EPFL, Lausanne, Switzerland.
npj Robotics
|January 12, 2026
概括
这项研究引入了基于表面的机器人操纵,使用平面而不是抓手. 这种新的方法使机器人能够处理各种各样的物体,包括脆弱或可变形的物体,克服传统抓取方法的局限性.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 人工智能的人工智能
- 机械工程 机械工程
背景情况:
- 机器人操纵是现实世界互动的关键.
- 传统的抓取与各种物体属性 (脆弱,可变形,不规则,滑动) 进行斗争.
- 当前的方法往往由于难以确定稳定的力或几何约束而失败.
研究的目的:
- 为机器人提出新的基于表面的操纵策略.
- 为了克服传统抓取技术的局限性.
- 为了使机器人能够有效地操纵更广泛的物体.
主要方法:
- 利用平面作为极简的终端效应器.
- 采用闭环控制策略来调整表面的位置和方向.
- 实现基于表面的操纵来翻译,旋转和翻转物体.
主要成果:
- 证明了对物体的成功操纵,而没有稳定的抓取.
- 展示了对各种形状,大小和刚度等级的物体的适应性.
- 启用了对可变形物体的操作,包括改变它们的形状.
结论:
- 基于表面的操纵为机器人物体处理提供了一个新的范式.
- 这种方法克服了传统抓取方法所面临的挑战.
- 为机器人学中复杂的操纵任务提供了多功能解决方案.
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