用弯曲末端器和支撑面倾斜物体，实现大件物品的稳定抓取。
Picking by Tilting: In-Hand Manipulation for Object Picking using Effector with Curved Form
- 通过倾斜物体形成间隙，将弯曲末端器插入抓握。
- 实验验证多种尺寸形状物体均可可靠抓取。
- 仅需简单硬件与控制，适合实际应用部署。
本文提出一种基于接触交互的机器人手持操作技术，可抓取无法以传统方式抓握的大型物体。该方法利用带有曲面的被动末端执行器和两个平面支撑面，先将物体倾斜，再将末端执行器插入倾斜后形成的间隙中，从而对抗重力实现抓取。论文首先分析了倾斜过程中的力学特性，探讨了初始倾斜的不同方式；随后提出一种安全可靠的倾斜策略。最后通过自研机器人装置和常规机械臂完成一系列实验，验证了该方法在不同尺寸和几何形状物体上的有效性。实验结果表明，该方法仅需简单硬件与控制即可实现稳定抓取，若配合合适的夹具设计，效果更佳。
原文摘要 · Abstract (English)
This paper presents a robotic in-hand manipulation technique that can be applied to pick an object too large to grasp in a prehensile manner, by taking advantage of its contact interactions with a curved, passive end-effector, and two flat support surfaces. First, the object is tilted up while being held between the end-effector and the supports. Then, the end-effector is tucked into the gap underneath the object, which is formed by tilting, in order to obtain a grasp against gravity. In this paper, we first examine the mechanics of tilting to understand the different ways in which the object can be initially tilted. We then present a strategy to tilt up the object in a secure manner. Finally, we demonstrate successful picking of objects of various size and geometry using our technique through a set of experiments performed with a custom-made robotic device and a conventional robot arm. Our experiment results show that object picking can be performed reliably with our method using simple hardware and control, and when possible, with appropriate fixture design.
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