模仿蚂蚁前足结构，设计低成本高鲁棒性抓取器。
Minimal Footprint Grasping Inspired by Ants
- 仿生蚂蚁前足，采用高摩擦垫、低摩擦毛发与柔性关节结构。
- 对多种日常物品抓取成功率100%，在密集杂乱中也能精准拾取。
- 适合工业级分拣场景，为微型机器人抓取提供新思路。
蚂蚁在复杂环境中具有出色的物体抓取能力，我们发现这主要依赖其前足。前足的跗节具有高摩擦微结构（刚毛垫）、覆盖细毛，且末端灵活、被动顺应。本文抽象这些特征，设计一种新型低成本夹持器，适用于料箱分拣任务。夹持器采用长而细的机械臂，配备高摩擦抓握垫、低摩擦毛发及单段式跗节结构，模拟昆虫的刚毛垫、毛发和跗节的交互柔顺性。实验表明，该设计对各类常见消费类物品抓取均实现100%成功；同时在密集杂乱环境中单物拾取也表现优异，体现出与蚂蚁相当的能力。研究推动了抓取技术进步，揭示了毛状结构与跗节柔顺性在昆虫中的机械重要性。
原文摘要 · Abstract (English)
Ants are highly capable of grasping objects in clutter, and we have recently observed that this involves substantial use of their forelegs. The forelegs, more specifically the tarsi, have high friction microstructures (setal pads), are covered in hairs, and have a flexible under-actuated tip. Here we abstract these features to test their functional advantages for a novel low-cost gripper design, suitable for bin-picking applications. In our implementation, the gripper legs are long and slim, with high friction gripping pads, low friction hairs and single-segment tarsus-like structure to mimic the insect's setal pads, hairs, and the tarsi's interactive compliance. Experimental evaluation shows this design is highly robust for grasping a wide variety of individual consumer objects, with all grasp attempts successful. In addition, we demonstrate this design is effective for picking single objects from dense clutter, a task at which ants also show high competence. The work advances grasping technology and shed new light on the mechanical importance of hairy structures and tarsal flexibility in insects.
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