用折纸结构实现无需传感的自适应多物抓取，高效稳定。
Adaptive and Multi-object Grasping via Deformable Origami Modules
- 采用被动可变形折纸模块，单自由度驱动实现自适应抓握
- 可同时抓取不同形状大小物体并独立搬运放置，效率显著提升
- 无需复杂控制或触觉反馈，适合家庭与工业场景
软体机器人夹爪在抓取易碎及几何复杂的物体方面展现出巨大潜力。然而，现有大多数方案依赖笨重的驱动器、复杂的控制策略或先进的触觉传感来实现稳定可靠的抓取性能。本文提出一种多指混合夹爪，其每个手指由并联的被动可变形折纸模块构成，能产生恒定的力和扭矩输出。每个手指通过单自由度（1-DoF）驱动机构驱动，实现无需主动感知或反馈控制的被动形态适应与稳定抓握力。更重要的是，我们展示了同时抓取多个物体的能力，可独立拾取、运输和放置堆叠的异形异尺寸物体，相比单物体抓取显著提升了操作效率。这些结果表明，基于折纸的柔性结构作为可扩展模块，在家用与工业级拾取放置任务中具有实现自适应、稳定且高效多物体操作的巨大潜力。
原文摘要 · Abstract (English)
Soft robotics gripper have shown great promise in handling fragile and geometrically complex objects. However, most existing solutions rely on bulky actuators, complex control strategies, or advanced tactile sensing to achieve stable and reliable grasping performance. In this work, we present a multi-finger hybrid gripper featuring passively deformable origami modules that generate constant force and torque output. Each finger composed of parallel origami modules is driven by a 1-DoF actuator mechanism, enabling passive shape adaptability and stable grasping force without active sensing or feedback control. More importantly, we demonstrate an interesting capability in simultaneous multi-object grasping, which allows stacked objects of varied shape and size to be picked, transported and placed independently at different states, significantly improving manipulation efficiency compared to single-object grasping. These results highlight the potential of origami-based compliant structures as scalable modules for adaptive, stable and efficient multi-object manipulation in domestic and industrial pick-and-place scenarios.
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