用刚柔协同模拟大象卷尾抓取，实现9种灵活抓握动作。
Grasping by Spiraling: Reproducing Elephant Movements with Rigid-Soft Robot Synergy
- 刚性臂定位+柔性臂模仿大象卷曲扭转，协同完成抓取。
- 复现文献中9种大象抓握策略，适配不同形状大小物体。
- 刚柔协同降低控制复杂度，兼具精准与适应性。
对数螺旋在多个物种中普遍存在，如蕨类嫩芽、可抓握尾巴及章鱼触手、大象鼻子等软质肢体。这些结构利用螺旋运动进行抓取。受此启发，本文聚焦于大象鼻子，提出一种刚柔协同系统：刚性机械臂负责定位与姿态控制，模拟大象头部功能；柔性机械臂通过特定驱动模式复现大象鼻子的弯曲与扭转运动基元。该系统成功复现了文献中报道的9种大象抓握策略，能适应不同形状与尺寸的物体。刚柔部件间的协同作用显著降低了控制复杂度，同时保持高度灵活性与适应性。
原文摘要 · Abstract (English)
The logarithmic spiral is observed as a common pattern in several living beings across kingdoms and species. Some examples include fern shoots, prehensile tails, and soft limbs like octopus arms and elephant trunks. In the latter cases, spiraling is also used for grasping. Motivated by how this strategy simplifies behavior into kinematic primitives and combines them to develop smart grasping movements, this work focuses on the elephant trunk, which is more deeply investigated in the literature. We present a soft arm combined with a rigid robotic system to replicate elephant grasping capabilities based on the combination of a soft trunk with a solid body. In our system, the rigid arm ensures positioning and orientation, mimicking the role of the elephant's head, while the soft manipulator reproduces trunk motion primitives of bending and twisting under proper actuation patterns. This synergy replicates 9 distinct elephant grasping strategies reported in the literature, accommodating objects of varying shapes and sizes. The synergistic interaction between the rigid and soft components of the system minimizes the control complexity while maintaining a high degree of adaptability.
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