Complex manipulation with a simple robotic hand through contact breaking and caging
Complex manipulation with a simple robotic hand through contact breaking and caging
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DOI：
10.1126/scirobotics.abd2666
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发表时间：
2021-05-12
期刊：
影响因子：
25
通讯作者：
Dollar, Aaron M.
中科院分区：
文献类型：
--
作者：
Bircher, Walter G.;Morgan, Andrew S.;Dollar, Aaron M.
人类使用手的所有表面进行接触丰富的操作。相比之下，机械手通常只使用指尖，这可能会限制灵活性。在这项工作中，我们利用了一种基于势能的全手操作模型，该模型不像传统方法那样依赖于接触扳手建模，来设计一种机器人操作手。受机器人笼式抓取和在人类操作中观察到的高水平灵活性的启发，开发了一种度量标准，并将其与操作模型结合使用，设计了一种两指灵巧手Model W。该度量标准通过模拟由多达三个串联旋转和棱体关节的开放运动链组成的所有平面手指拓扑结构，形成对称的两指灵巧手，并根据该度量评估其性能来实现。我们提出了最好的设计，一种非传统的机器人手，能够执行连续的对象重新定位，以及反复在动力和夹持之间交替-这两种接触丰富的技能通常是机器人手无法实现的-我们通过实验表征了手的操作能力。这只手实现了类似于人类拇指-食指操作运动的操作动作，其拓扑结构为通用灵巧手奠定了基础。
Humans use all surfaces of the hand for contact-rich manipulation. Robot hands, in contrast, typically use only the fingertips, which can limit dexterity. In this work, we leveraged a potential energy-based whole-hand manipulation model, which does not depend on contact wrench modeling like traditional approaches, to design a robotic manipulator. Inspired by robotic caging grasps and the high levels of dexterity observed in human manipulation, a metric was developed and used in conjunction with the manipulation model to design a two-fingered dexterous hand, the Model W. This was accomplished by simulating all planar finger topologies composed of open kinematic chains of up to three serial revolute and prismatic joints, forming symmetric two-fingered hands, and evaluating their performance according to the metric. We present the best design, an unconventional robot hand capable of performing continuous object reorientation, as well as repeatedly alternating between power and pinch grasps- two contact-rich skills that have often eluded robotic hands-and we experimentally characterize the hand's manipulation capability. This hand realizes manipulation motions reminiscent of thumb-index finger manipulative movement in humans, and its topology provides the foundation for a general-purpose dexterous robot hand.