用平面表面操控物体，不靠抓取也能稳稳翻转变形物
Surface-Based Manipulation with Modular Foldable Robots
- 用可调位置方向的平面做末端执行器，替代传统手指抓握
- 能稳定移动、旋转、翻转各种形状和软硬的物体
- 适合处理易碎、不规则或易变形物品，适合柔性操作场景
智能不仅存在于大脑（决策过程），也存在于身体（物理形态）。机器人的形态会显著影响其与物理世界的交互能力，对真实场景中的物体操作至关重要。传统机器人操作策略主要依赖手指状末端执行器，但在处理脆弱、可变形、形状不规则或光滑物体时，因难以建立稳定的力或几何约束，难以实现稳定抓握。本文提出基于表面的操作策略，突破传统抓取方式，采用平面作为极简末端执行器。通过闭环控制调节表面的位置与姿态，可实现物体在表面的平移、旋转与翻转。该方法无需依赖稳定抓握，能适应不同形状、尺寸和刚度的物体，甚至可操控可变形物体的形状。实验结果为解决复杂操作问题提供了新视角。
原文摘要 · Abstract (English)
Intelligence lies not only in the brain (decision-making processes) but in the body (physical morphology). The morphology of robots can significantly influence how they interact with the physical world, crucial for manipulating objects in real-life scenarios. Conventional robotic manipulation strategies mainly rely on finger-shaped end effectors. However, achieving stable grasps on fragile, deformable, irregularly shaped, or slippery objects is challenging due to difficulty in establishing stable forces or geometric constraints. Here, we present surface-based manipulation strategies that diverge from classical grasping approaches, using flat surfaces as minimalist end-effectors. By adjusting surfaces' position and orientation, objects can be translated, rotated, and flipped across the surface using closed-loop control strategies. Since this method does not rely on stable grasping, it can adapt to objects of various shapes, sizes, and stiffness levels and can even manipulate the shape of deformable objects. Our results provide a new perspective for solving complex manipulation problems.
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