Viko 2.0：視触覚センサを統合した階層型ヤモリ模倣粘着グリッパ
Viko 2.0: A Hierarchical Gecko-inspired Adhesive Gripper with Visuotactile Sensor
ヤモリ模倣の階層型粘着構造と視触覚センサを組み合わせ、接触面積・せん断力・初期滑りをリアルタイム計測しながら多様な形状の物体を把持できる適応型グリッパを開発した。
著者: Chohei Pang, Qicheng Wang, Kinwing Mak, Hongyu Yu, Michael Yu Wang
分類: cs.RO
原文アブストラクト
Robotic grippers with visuotactile sensors have access to rich tactile information for grasping tasks but encounter difficulty in partially encompassing large objects with sufficient grip force. While hierarchical gecko-inspired adhesives are a potential technique for bridging performance gaps, they require a large contact area for efficient usage. In this work, we present a new version of an adaptive gecko gripper called Viko 2.0 that effectively combines the advantage of adhesives and visuotactile sensors. Compared with a non-hierarchical structure, a hierarchical structure with a multimaterial design achieves approximately a 1.5 times increase in normal adhesion and double in contact area. The integrated visuotactile sensor captures a deformation image of the hierarchical structure and provides a real-time measurement of contact area, shear force, and incipient slip detection at 24 Hz. The gripper is implemented on a robotic arm to demonstrate an adaptive grasping pose based on contact area, and grasps objects with a wide range of geometries and textures.
