通过拓扑变换实现强稳、柔和且通用的抓握，突破传统机械手局限。
Loop closure grasping: Topological transformations enable strong, gentle, and versatile grasps
- 抓取时采用开环结构，自由移动末端实现灵活抓握。
- 闭合回路后具备无限弯曲柔韧性，实现强力且温和的持握。
- 适合抓取复杂物体与特殊环境，适用于多种应用场景。
抓取机制需同时实现抓取生成与稳定持握，以保障物体操作的安全性与有效性。现有方法通常使用单一形态来应对抓取创建与持握的不同需求，但尚未在强度、柔性和通用性上取得兼顾。本文提出「环闭抓握」——一种通过开环与闭环拓扑变换实现功能分离的机器人抓取方法。我们形式化了抓取中的拓扑形态，构建了环闭抓握方法，并基于软性可伸展气动梁、绞盘与夹具实现设计架构。初始开环结构允许末端自由运动，实现多样化抓取；闭合回路后则具备有效无限弯曲柔顺性，实现强而温和的持握。该方法规避了单一形态设计的权衡问题，使以往难以处理的物体、环境与构型得以成功抓握。
原文摘要 · Abstract (English)
Grasping mechanisms must both create and subsequently hold grasps that permit safe and effective object manipulation. Existing mechanisms address the different functional requirements of grasp creation and grasp holding using a single morphology, but have yet to achieve the simultaneous strength, gentleness, and versatility needed for many applications. We present "loop closure grasping", a class of robotic grasping that addresses these different functional requirements through topological transformations between open-loop and closed-loop morphologies. We formalize these morphologies for grasping, formulate the loop closure grasping method, and present principles and a design architecture that we implement using soft growing inflated beams, winches, and clamps. The mechanisms' initial open-loop topology enables versatile grasp creation via unencumbered tip movement, and closing the loop enables strong and gentle holding with effectively infinite bending compliance. Loop closure grasping circumvents the tradeoffs of single-morphology designs, enabling grasps involving historically challenging objects, environments, and configurations.
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