Autonomous planning and control of soft untethered grippers in unstructured environments.
Autonomous planning and control of soft untethered grippers in unstructured environments.
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DOI：
10.1007/s12213-016-0091-1
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发表时间：
2017
影响因子：
2.3
通讯作者：
Misra S
中科院分区：
文献类型：
--
作者：
Ongaro F;Scheggi S;Yoon C;den Brink FV;Oh SH;Gracias DH;Misra S
使用小型、机动、不受束缚和可重新配置的机器人可以在各种微操作任务中提供许多优势。例子包括微组装、用于芯片实验室应用的易碎微物体的拾取和放置、用于体外受精的辅助孵化和微创手术。本研究评估了潜在的软不拴磁抓手作为替代品或补充传统的拴系或刚性显微操作器。我们证明了闭环控制的无约束的夹具和自动拾取和放置的生物材料在猪组织在非结构化的环境。我们还展示了软抓手识别和排序非生物微观尺度物体的能力。通过整合规划和决策算法以及闭环温度和电磁运动控制，使实验的完全自主性成为可能。该抓取器能够以1.8 ±0.71 mm/s的平均速度和0.62 ±0.22 mm的落料误差完成生物材料的取放任务。误差为0.85 ±0.41 mm。我们的研究结果表明，改进的自主无系绳夹持器可以增强当前软机器人仪器的能力，特别是在涉及操作的高级任务中。
The use of small, maneuverable, untethered and reconfigurable robots could provide numerous advantages in various micromanipulation tasks. Examples include microassembly, pick-and-place of fragile micro-objects for lab-on-a-chip applications, assisted hatching for in-vitro fertilization and minimally invasive surgery. This study assesses the potential of soft untethered magnetic grippers as alternatives or complements to conventional tethered or rigid micromanipulators. We demonstrate closed-loop control of untethered grippers and automated pick-and-place of biological material on porcine tissue in an unstructured environment. We also demonstrate the ability of the soft grippers to recognize and sort non-biological micro-scale objects. The fully autonomous nature of the experiments is made possible by the integration of planning and decision-making algorithms, as well as by closed-loop temperature and electromagnetic motion control. The grippers are capable of completing pick-and-place tasks of biological material at an average velocity of 1.8 ±0.71 mm/s and a drop-off error of 0.62 ±0.22 mm. Color-sensitive sorting of three micro-scale objects is completed at a velocity of 1.21 ±0.68 mm/s and a drop-off error of 0.85 ±0.41 mm. Our findings suggest that improved autonomous untethered grippers could augment the capabilities of current soft-robotic instruments especially in advancedtasks involving manipulation.