Modular, Accessible, Sensorized Objects for Evaluating the Grasping and Manipulation Capabilities of Grippers and Hands
Modular, Accessible, Sensorized Objects for Evaluating the Grasping and Manipulation Capabilities of Grippers and Hands
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DOI：
10.1109/lra.2020.3010484
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发表时间：
2020-10-01
影响因子：
5.2
通讯作者：
Liarokapis, Minas
中科院分区：
文献类型：
--
作者：
Gao, Geng;Gorjup, Gal;Liarokapis, Minas
人类的手是自然界中最灵活的末端执行器，50多年来一直是机器人学家的灵感来源。近年来，大量的工业和研究工作已经投入到灵巧机器人手和抓取器的开发中。这种末端执行器提供了强大的抓取和灵巧的手操纵能力，提高了整个机器人平台的效率，精度和适应性。这项工作的重点是模块化，传感器化的对象，可以促进基准的灵巧性和性能的手和抓手的发展。所提出的对象旨在提供;一个最小的，足够多样化的解决方案，有效的姿态跟踪和可访问性。对象制造指令、3D模型和装配信息通过创建相应的存储库而公开可用。
The human hand is Nature's most versatile and dexterous end-effector and it has been a source of inspiration for roboticists for over 50 years. Recently, significant industrial and research effort has been put into the development of dexterous robot hands and grippers. Such end-effectors offer robust grasping and dexterous, in-hand manipulation capabilities that increase the efficiency, precision, and adaptability of the overall robotic platform. This work focuses on the development of modular, sensorized objects that can facilitate benchmarking of the dexterity and performance of hands and grippers. The proposed objects aim to offer; a minimal, sufficiently diverse solution, efficient pose tracking, and accessibility. The object manufacturing instructions, 3D models, and assembly information are made publicly available through the creation of a corresponding repository.