用可变形折纸表面+中央模式发生器，实现大小材质各异物体的稳定抓取。
CPG-Based Manipulation with Multi-Module Origami Robot Surface
- 基于CPG的运动生成器控制多模块折纸机器人表面变形
- 可操控从厘米到米级、不同刚度与形状的物体
- 适合需要柔性适应性强的工业抓取场景
机器人抓取器在处理不同尺寸和材质的物体时常面临挑战，尤其在操作米级或刚度变化大的物体时，传统夹持方法往往失效。本文提出一种基于表面的多模块机器人操纵框架，结合中央模式发生器（CPG）运动生成器与基于仿真的优化方法，确定多模块折纸机器人表面（Ori-Pixel）的最佳操纵参数。该方法可实现对从厘米级到米级、不同刚度和形状物体的操控。通过动态仿真与原型实验，在多种尺寸、重量、形状和材质的物体上验证了其鲁棒性操纵能力。
原文摘要 · Abstract (English)
Robotic manipulators often face challenges in handling objects of different sizes and materials, limiting their effectiveness in practical applications. This issue is particularly pronounced when manipulating meter-scale objects or those with varying stiffness, as traditional gripping techniques and strategies frequently prove inadequate. In this letter, we introduce a novel surface-based multi-module robotic manipulation framework that utilizes a Central Pattern Generator (CPG)-based motion generator, combined with a simulation-based optimization method to determine the optimal manipulation parameters for a multi-module origami robotic surface (Ori-Pixel). This approach allows for the manipulation of objects ranging from centimeters to meters in size, with varying stiffness and shape. The optimized CPG parameters are tested through both dynamic simulations and a series of prototype experiments involving a wide range of objects differing in size, weight, shape, and material, demonstrating robust manipulation capabilities.
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