The Xeno-Tongue Gripper: Granular Jamming Suction Cup with Bellow-Driven Self-Morphing
The Xeno-Tongue Gripper: Granular Jamming Suction Cup with Bellow-Driven Self-Morphing
复制标题
DOI：
10.1109/robosoft55895.2023.10121982
复制
发表时间：
2023-04
期刊：
影响因子：
--
通讯作者：
Kieran Gilday;Ryman Hashem;Arsen Abdulali;F. Iida
中科院分区：
文献类型：
--
作者：
Kieran Gilday;Ryman Hashem;Arsen Abdulali;F. Iida
软夹持器在非结构化环境中的抓取和抓取精细物体方面表现出显着的改进。然而，存在限制，阻止更广泛的现实世界中的使用，从低保持力，在不同的对象集的高控制复杂性，并在混乱中挑选的挑战和更多。我们提出了一个软的自适应吸盘设计，具有变形颗粒干扰杯增强吸力为基础的“Xeno-Tongue”-它可以挑选和处理不同的对象下的各种环境限制，或缺乏。该夹持器结合了软吸力和内置的牵引机构，即，舌状物提供主动拉动，用于独立于周围环境而自动适应于物体的吸盘形状。我们在一系列基准表面上对抓取性能进行了测试和预测。此外，使用未经修改的控制策略在杂乱和模拟收获环境中抓取真实世界的物体，展示了在农业和其他行业中快速应用的适应性和敏捷性。
Soft grippers have demonstrated significant improvements in grasping in unstructured environments and grasping delicate objects. However, there are limitations preventing more widespread real-world use, from low holding force, high control complexity in diverse object sets, and challenges picking in clutter and more. We present a soft adaptive suction cup design-featuring a morphing granular jamming cup augmented by a suction-based ‘Xeno-Tongue’-which can pick and handle diverse objects under a variety of environmental constraints, or lack of. The gripper combines soft suction with an in-built pulling mechanism, i.e., the tongue provides active pulling for automatic suction cup shape adaptation to objects independent of the surrounding environment. We characterise and predict the grasping performance on a series of benchmarking surfaces. Additionally, grasping real-world objects, in clutter and a simulated harvesting environment, using an unmodified control strategy demonstrates adaptability and agility for rapid application in agriculture and other industries.