DexGrip：器用な把持とハンド内操作を可能にするマルチモーダルソフトグリッパ
DexGrip: Multi-modal Soft Gripper with Dexterous Grasping and In-hand Manipulation Capacity
3自由度の吸引パームと3つの回転把持面を備えたソフトグリッパを開発し、把持し直すことなく物体の再配置や3軸周りの360度回転を含むハンド内操作を実現した。
著者: Xing Wang, Liam Horrigan, Josh Pinskier, Ge Shi, Vinoth Viswanathan, Lois Liow, Tirthankar Bandyopadhyay, Jen Jen Chung, David Howard
分類: cs.RO
原文アブストラクト
The ability of robotic grippers to not only grasp but also re-position and re-orient objects in-hand is crucial for achieving versatile, general-purpose manipulation. While recent advances in soft robotic grasping has greatly improved grasp quality and stability, their manipulation capabilities remain under-explored. This paper presents the DexGrip, a multi-modal soft robotic gripper for in-hand grasping, re-orientation and manipulation. DexGrip features a 3 Degrees of Freedom (DoFs) active suction palm and 3 active (rotating) grasping surfaces, enabling soft, stable, and dexterous grasping and manipulation without ever needing to re-grasp an object. Uniquely, these features enable complete 360 degree rotation in all three principal axes. We experimentally demonstrate these capabilities across a diverse set of objects and tasks. DexGrip successfully grasped, re-positioned, and re-oriented objects with widely varying stiffnesses, sizes, weights, and surface textures; and effectively manipulated objects that presented significant challenges for existing robotic grippers.
