仿鹰爪设计的夹持器让机器人3D布线更稳定，一次抓取完成复杂路径操作。
CaRoBio: 3D Cable Routing with a Bio-inspired Gripper Fingernail
- 用仿生鹰爪结构取代传统夹爪，避免挤压和拉伸电缆
- 基于视觉状态估计与离线轨迹规划，实现单次抓取的连续3D布线
- 适用于多种电缆和通道，比传统抓放策略更高效可靠
柔性线状物的操控在工业中应用广泛，如汽车制造中的线缆布设和纺织生产。线缆布设作为复杂的多阶段机器人操作任务，对自动化提出了严峻挑战。常见的平行双指夹爪在抓取和引导线缆时易造成过度挤压和张力。本文设计了一种新型仿鹰爪指端结构并安装于夹爪上，可有效实现平面表面及手内线缆引导操作。进一步提出一种基于该指端的单次抓取端到端3D线缆布设框架，替代传统的拾取-放置策略。通过视觉驱动的状态估计与基于运动基元的离线轨迹规划，实现连续控制以高效操控线缆。我们在多种线缆与通道槽位下评估了该框架的有效性，在同等感知条件下显著优于传统抓放流程。可重构的任务设置与所提框架为未来三维空间中的线缆布设操作提供了参考。
原文摘要 · Abstract (English)
The manipulation of deformable linear flexures has a wide range of applications in industry, such as cable routing in automotive manufacturing and textile production. Cable routing, as a complex multi-stage robot manipulation scenario, is a challenging task for robot automation. Common parallel two-finger grippers have the risk of over-squeezing and over-tension when grasping and guiding cables. In this paper, a novel eagle-inspired fingernail is designed and mounted on the gripper fingers, which helps with cable grasping on planar surfaces and in-hand cable guiding operations. Then we present a single-grasp end-to-end 3D cable routing framework utilizing the proposed fingernails, instead of the common pick-and-place strategy. Continuous control is achieved to efficiently manipulate cables through vision-based state estimation of task configurations and offline trajectory planning based on motion primitives. We evaluate the effectiveness of the proposed framework with a variety of cables and channel slots, significantly outperforming the pick-and-place manipulation process under equivalent perceptual conditions. Our reconfigurable task setting and the proposed framework provide a reference for future cable routing manipulations in 3D space.
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