让机械手实时感知滑动并自适应控制，提升抓取稳定性。
Perception, Control and Hardware for In-Hand Slip-Aware Object Manipulation with Parallel Grippers
- 通过内置传感器实时测量接触力与滑动速度，实现闭环控制。
- 无需事先了解物体信息，上手即可估计关键物理属性。
- 设计四种防滑控制器，适合抓取平面物体的复杂操作。
灵巧的在手操作能显著提升机器人操作能力。本文提出一种基于传感-运动架构的在手滑动感知控制方法，集成于一款具备传感器的夹爪中。该夹爪具有快速闭环、低层级的力控制能力，并配备可独立测量接触力和滑动速度的传感器。系统仅依赖在手感知，在抓取过程中快速估算物体的关键属性，无需依赖预先的物体信息。我们提出了四种不同的滑动控制器：用于旋转和线性滑动的重力辅助轨迹跟踪，保持物体姿态的铰链控制器，以及防滑控制器。夹爪安装在机械臂上，通过涵盖多种物体的大量实验验证了该架构在处理平面物体时的新能力。
原文摘要 · Abstract (English)
Dexterous in-hand manipulation offers significant potential to enhance robotic manipulator capabilities. This paper presents a sensori-motor architecture for in-hand slip-aware control, being embodied in a sensorized gripper. The gripper in our architecture features rapid closed-loop, low-level force control, and is equipped with sensors capable of independently measuring contact forces and sliding velocities. Our system can quickly estimate essential object properties during pick-up using only in-hand sensing, without relying on prior object information. We introduce four distinct slippage controllers: gravity-assisted trajectory following for both rotational and linear slippage, a hinge controller that maintains the object's orientation while the gripper rotates, and a slip-avoidance controller. The gripper is mounted on a robot arm and validated through extensive experiments involving a diverse range of objects, demonstrating the architecture's novel capabilities for manipulating objects with flat surfaces.
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