用模块化工具扩展夹爪的非抓握操作能力
Taxonomy and Modular Tool System for Versatile and Effective Non-Prehensile Manipulations
- 基于非主动末端执行器特性构建分类体系
- 通过模块化系统让夹爪实现按压、摩擦等动作
- 在航天与家庭场景中验证多任务适用性
通用型机器人末端执行器（如平行夹爪）虽结构简单且应用广泛，但其主要适用于抓取类交互，难以有效完成按压、摩擦或刮擦等非抓握操作。人类则根据任务需求选择不同刚度、摩擦特性的身体部位或工具。本文提出一种非主动末端执行器的关键属性分类体系，为理解非抓握操作的潜力奠定基础；并设计了一套基于该分类的模块化工具系统，使标准双指夹爪能灵活扩展功能以完成多种非抓握与抓取复合任务。我们在航天与家庭应用场景中验证了该系统的有效性。
原文摘要 · Abstract (English)
General-purpose robotic end-effectors of limited complexity, like the parallel-jaw gripper, are appealing for their balance of simplicity and effectiveness in a wide range of manipulation tasks. However, while many such manipulators offer versatility in grasp-like interactions, they are not optimized for non-prehensile actions like pressing, rubbing, or scraping -- manipulations needed for many common tasks. To perform such tasks, humans use a range of different body parts or tools with different rigidity, friction, etc., according to the properties most effective for a given task. Here, we discuss a taxonomy for the key properties of a non-actuated end-effector, laying the groundwork for a systematic understanding of the affordances of non-prehensile manipulators. We then present a modular tool system, based on the taxonomy, that can be used by a standard two-fingered gripper to extend its versatility and effectiveness in performing such actions. We demonstrate the application of the tool system in aerospace and household scenarios that require a range of non-prehensile and prehensile manipulations.
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