Safe Grasping with a Force Controlled Soft Robotic Hand
Safe Grasping with a Force Controlled Soft Robotic Hand
复制标题
使用力控软机械手安全抓取
DOI：
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发表时间：
2019
期刊：
影响因子：
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通讯作者：
V. Kyrki
中科院分区：
文献类型：
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作者：
Tran Nguyen Le;Jens Lundell;V. Kyrki
安全而稳定的抓取需要机器人手在物体上施加足够的力以使其稳定，同时防止其受损。软机器人手由于其被动顺应性而被提出用于安全抓握，但是如果施加的力太高，即使这样的手也可以压碎物体。因此，为了安全抓握，即使是柔软的手，调节抓握力也是极其重要的。在这项工作中，我们提出了一个力控制的软手，并使用它来实现安全抓取。为此，电阻力和弯曲传感器集成在一个软手，并提出了一种数据驱动的校准方法来估计接触相互作用力。给定力读数，使用比例积分控制器调节气动压力以实现期望的力。控制器的实验评估和基准把握容易变形的物体，如塑料和纸杯，既不下降，也不变形。总之，结果表明，我们的力控制软手可以抓住变形物体在一个安全而稳定的方式。
Safe yet stable grasping requires a robotic hand to apply sufficient force on the object to immobilize it while keeping it from getting damaged. Soft robotic hands have been proposed for safe grasping due to their passive compliance, but even such a hand can crush objects if the applied force is too high. Thus for safe grasping, regulating the grasping force is of uttermost importance even with soft hands. In this work, we present a force controlled soft hand and use it to achieve safe grasping. To this end, resistive force and bend sensors are integrated in a soft hand, and a data-driven calibration method is proposed to estimate contact interaction forces. Given the force readings, the pneumatic pressures are regulated using a proportional-integral controller to achieve desired force. The controller is experimentally evaluated and benchmarked by grasping easily deformable objects such as plastic and paper cups without neither dropping nor deforming them. Together, the results demonstrate that our force controlled soft hand can grasp deformable objects in a safe yet stable manner.
身体感知软机器人：本体感受和外感受传感器的集成
DOI：
10.1109/icra.2018.8463169
发表时间：
2018
期刊：
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影响因子：
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作者：
Soter G
通讯作者：
Soter G