AR+软硬协作机器人实现精准抓取，操作更直观可靠
Physical Human-Robot Interaction for Grasping in Augmented Reality via Rigid-Soft Robot Synergy
- 通过AR头显在虚拟环境预演抓取动作
- 利用软体机器人几何特性精准建模动态行为
- 适合需要柔顺抓取的工业或医疗场景
混合刚性-柔性机器人结合了刚性机械臂的精度与柔性手臂的顺应性，为非结构化环境中的多样化抓取提供了新路径。然而，其协调控制面临建模、感知和跨域运动学等挑战。本文提出一种基于增强现实（AR）的物理人机交互框架，支持用户通过AR头显直接远程操控混合机器人完成简单抓取任务。用户可在集成通用物理引擎的虚拟模型中交互，该模型叠加于真实系统之上，实现部署前的模拟执行。为保证虚拟与物理机器人行为一致，我们设计了一套从真实到仿真参数识别流程，利用软体机器人的固有几何特性，准确建模其静态与动态行为以及控制系统响应。
原文摘要 · Abstract (English)
Hybrid rigid-soft robots combine the precision of rigid manipulators with the compliance and adaptability of soft arms, offering a promising approach for versatile grasping in unstructured environments. However, coordinating hybrid robots remains challenging, due to difficulties in modeling, perception, and cross-domain kinematics. In this work, we present a novel augmented reality (AR)-based physical human-robot interaction framework that enables direct teleoperation of a hybrid rigid-soft robot for simple reaching and grasping tasks. Using an AR headset, users can interact with a simulated model of the robotic system integrated into a general-purpose physics engine, which is superimposed on the real system, allowing simulated execution prior to real-world deployment. To ensure consistent behavior between the virtual and physical robots, we introduce a real-to-simulation parameter identification pipeline that leverages the inherent geometric properties of the soft robot, enabling accurate modeling of its static and dynamic behavior as well as the control system's response.
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