提出一套可通用的双臂人形机器人纸张包裹系统
Integrative Wrapping System for a Dual-Arm Humanoid Robot
- 基于物体特性编码信息，统一硬件与操作方法
- 结合阻抗控制与点云评估，实现三维柔性物操作
- 支持多种形状物体包裹，适合复杂柔性材料任务
纸张和布料等柔性物体的操作是机器人抓取中的重大挑战。尽管已有研究通过模拟到现实和学习方法实现了特定动作或单步折纸，但针对人形机器人及连续多步骤柔性材料操作的系统仍较少。用纸和胶带包裹物体比传统操作更复杂多样，因需处理更多对象且涉及三维操作。本研究根据包裹中各物体的特性组织并编码必要信息，泛化了支持人形机器人包裹操作的硬件配置、操作方法和识别系统。系统采用以纸张张力为重点的阻抗控制，并利用点云进行状态评估，以应对三维柔性物体。最后通过不同形状物体的包裹实验，验证了所提系统的通用性与有效性。
原文摘要 · Abstract (English)
Flexible object manipulation of paper and cloth is a major research challenge in robot manipulation. Although there have been efforts to develop hardware that enables specific actions and to realize a single action of paper folding using sim-to-real and learning, there have been few proposals for humanoid robots and systems that enable continuous, multi-step actions of flexible materials. Wrapping an object with paper and tape is more complex and diverse than traditional manipulation research due to the increased number of objects that need to be handled, as well as the three-dimensionality of the operation. In this research, necessary information is organized and coded based on the characteristics of each object handled in wrapping. We also generalize the hardware configuration, manipulation method, and recognition system that enable humanoid wrapping operations. The system will include manipulation with admittance control focusing on paper tension and state evaluation using point clouds to handle three-dimensional flexible objects. Finally, wrapping objects with different shapes is experimented with to show the generality and effectiveness of the proposed system.
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