用被动滚轮调节摩擦，让机械手更灵活抓握不同物体。
Robotic Dexterous Manipulation via Anisotropic Friction Modulation using Passive Rollers
- 通过可制动或旋转的被动滚轮控制接触摩擦方向。
- 实验证明能完成滑动、转动、多物体操作等复杂动作。
- 结构简单高效，适合需要自适应抓握的场景。
控制指尖摩擦是灵巧操作的关键，但在机器人手部实现仍具挑战。本文提出一种配备被动滚轮的机械手末端设计，可通过选择性制动或旋转滚轮来调节接触摩擦与约束方向。未制动时，滚轮允许接触点沿滚动方向自由滑动；制动后则像传统指尖一样抵抗运动。滚轮安装在可摆动机构上，可重新定向约束框架以适应不同操作任务。我们构建了集成于并联夹爪的约束模型，并分析其支持多样化操作策略的能力。实验表明，该设计使机器人能够实现一系列传统上难以完成的灵巧操作，包括抓持中的滑动与转动、对不确定接触的鲁棒适应、多物体或多部件操作，以及需要手指间非对称摩擦的交互。结果证明，这种被动滚轮指尖是一种低复杂度、高机械效率的摩擦调控方法，推动了更适应性强、鲁棒性高的机器人操作发展。
原文摘要 · Abstract (English)
Controlling friction at the fingertip is fundamental to dexterous manipulation, yet remains difficult to realize in robotic hands. We present the design and analysis of a robotic fingertip equipped with passive rollers that can be selectively braked or pivoted to modulate contact friction and constraint directions. When unbraked, the rollers permit unconstrained sliding of the contact point along the rolling direction; when braked, they resist motion like a conventional fingertip. The rollers are mounted on a pivoting mechanism, allowing reorientation of the constraint frame to accommodate different manipulation tasks. We develop a constraint-based model of the fingertip integrated into a parallel-jaw gripper and analyze its ability to support diverse manipulation strategies. Experiments show that the proposed design enables a wide range of dexterous actions that are conventionally challenging for robotic grippers, including sliding and pivoting within the grasp, robust adaptation to uncertain contacts, multi-object or multi-part manipulation, and interactions requiring asymmetric friction across fingers. These results demonstrate the versatility of passive roller fingertips as a low-complexity, mechanically efficient approach to friction modulation, advancing the development of more adaptable and robust robotic manipulation.
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