自動調整重み付き多目的最適化による劣駆動ウィップルツリー機構グリッパ
An Under-Actuated Whippletree Mechanism Gripper based on Multi-Objective Design Optimization with Auto-Tuned Weights
ウィップルツリー機構を用いた劣駆動剛体グリッパを提案し、壁登りタスク向けに運動学と把持力を同時に考慮した自動調整重み付き多目的最適化でパラメータ設計を行う。
著者: Yusuke Tanaka, Yuki Shirai, Zachary Lacey, Xuan Lin, Jane Liu, Dennis Hong
分類: cs.RO
原文アブストラクト
Current rigid linkage grippers are limited in flexibility, and gripper design optimality relies on expertise, experiments, or arbitrary parameters. Our proposed rigid gripper can accommodate irregular and off-center objects through a whippletree mechanism, improving adaptability. We present a whippletree-based rigid under-actuated gripper and its parametric design multi-objective optimization for a one-wall climbing task. Our proposed objective function considers kinematics and grasping forces simultaneously with a mathematical metric based on a model of an object environment. Our multi-objective problem is formulated as a single kinematic objective function with auto-tuning force-based weight. Our results indicate that our proposed objective function determines optimal parameters and kinematic ranges for our under-actuated gripper in the task environment with sufficient grasping forces.
