用悬挂托盘实现机器人无抓握运输，减少物体滑动和液体晃动。
Robotic Nonprehensile Object Transportation with a Hanging Tray
- 用绳索悬挂托盘模拟三维摆动，降低运输时的剪切力。
- 相比刚性夹持托盘，滑动和液体晃动显著减少。
- 仅需3自由度移动底盘即可实现，适合轻量化机器人应用。
我们研究了名为“侍者问题”的非抓握物体运输任务，即机器人需将平衡在托盘上的物体从一处运至另一处。与以往通过末端执行器刚性夹持托盘并倾斜的方式不同，本文采用绳索悬挂在末端执行器上的托盘，使其行为类似三维摆。先前工作通过控制机械臂模拟摆动以减小作用于物体的剪切力，从而减少刚性物体的滑动和液体容器的晃动。而本方法利用真实悬挂托盘，在仅驱动3自由度移动底盘的情况下，便实现了摆动优势，无需全6自由度机械臂。仿真与实物实验均表明，悬挂托盘显著降低了滑动和液体晃动。此外，我们将该系统集成至交互式机器人侍者演示中，结合计算机视觉识别举手人员，并通过视觉伺服引导机器人靠近，使用户可轻松取用托盘。
原文摘要 · Abstract (English)
We consider the nonprehensile object transportation task known as the waiter's problem, in which a robot must move an object balanced on a tray from one location to another. In contrast to prior works on the robotic waiter's problem, which make the robot tilt a tray rigidly held by its end effector (EE), we use a tray suspended from the EE by ropes, such that it behaves like a three-dimensional pendulum. Some prior works have actuated the robot so that the EE simulates the behavior of a pendulum, because pendular motion reduces the shear forces acting on the transported objects, minimizing the sliding of rigid objects and sloshing in containers of liquid. In contrast, our use of a real hanging tray allows us to obtain the benefits of pendular motion while only actuating a 3 degree-of-freedom (DOF) mobile base, rather than requiring a full 6-DOF manipulator arm. Our experiments in simulation and on real hardware show that the hanging tray substantially reduces both sliding and sloshing compared to a static, rigidly-grasped tray. Furthermore, we integrate the hanging tray into an interactive robot waiter demonstration, which uses computer vision to identify people with a raised hand and visual servoing to steer toward them and allow them to access the tray.
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