Object Picking Through In-Hand Manipulation Using Passive End-Effectors With Zero Mobility
Object Picking Through In-Hand Manipulation Using Passive End-Effectors With Zero Mobility
复制标题
使用零移动性被动末端执行器通过手动操作来拾取物体
DOI：
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复制
发表时间：
2018
影响因子：
5.2
通讯作者：
Jungwon Seo
中科院分区：
文献类型：
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作者：
Caio Mucchiani;Monroe Kennedy;Mark H. Yim;Jungwon Seo
这封信提出了一种新的方法，通过准静态的手与末端效应器，没有自由度的操作对象。我们的稳定操作/抓取规划是通过固定距离的两个接触和重力来实现的，并且可以证明是完整和正确的。实际上，我们的机器人手操作技术可以促进低成本操作，并使简单的末端执行器，如平行钳口夹持器在拾取，放置和移交物体时更加灵巧，例如，失败的致动夹持器被冻结，并且不可能施加足够大的内力。我们的拾取技术也可以应用于放置对象。实现和实验定制的直接驱动机械手和传统的机械手。许多实验都进行了采摘和放置，结果表明，这种方法的有用性，用于操纵各种常见的对象，不同的几何形状和表面条件。
This letter presents a new method for picking objects through quasistatic in-hand manipulation with end-effectors that have no degrees of freedom. Our stable manipulation/grasp planning is achieved with two contacts at fixed distance and the force of gravity, and is provably complete and correct. Practically, our robotic in-hand manipulation technique can facilitate low-cost manipulation and render simple end-effectors such as the parallel-jaw gripper more dexterous in picking, placing, and handing-off objects in case, for example, failing actuated grippers become frozen and it is impossible to exert sufficiently large internal forces. Our picking technique can also be applied to placing objects. Implementation and experimentation on a custom-made direct-drive manipulator and a conventional manipulator are presented. Many experiments were performed for both picking and placing and the results demonstrate usefulness of this method for manipulating a variety of common objects, with different geometries and surface conditions.