決定論的折り紙テンタクルの確率的絡み合いによるロバストなロボット把持
Stochastic Entanglement of Deterministic Origami Tentacles For Robust Robotic Grasping
腱駆動の折り紙テンタクルグリッパーを提案し、局所的な決定論的変形と大域的な確率的絡み合いを組み合わせることで、単純な設計と駆動でランダム形状の物体をロバストに把持できることを示した。
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著者: Alec Boron, Bokun Zheng, Ziyang Zhou, Noel Naughton, Suyi Li
分類: cs.RO, cs.SY, eess.SY
原文アブストラクト
Origami-inspired robotic grippers have shown promising potential for object manipulation tasks due to their compact volume and mechanical flexibility. However, robust capture of objects with random shapes in dynamic working environments often comes at the cost of additional actuation channels and control complexity. Here, we introduce a tendon-driven, robust origami tentacle gripper by exploiting a synergy between local, deterministic deformation programming and global, stochastic entanglements. Each tentacle features carefully placed holes (for routing an actuation tendon), origami creases, and a tapered shape. By tailoring these design features, one can prescribe the shrinking, bending, and twisting deformation, eventually creating deterministic coiling with a simple tendon pull. Then, when multiple coiling tentacles are placed in proximity, stochastic entanglement emerges, allowing the tentacles to braid, knot, and grip objects with random shapes. We derived a simulation model by integrating origami mechanics with Cosserat rods to correlate origami design, tentacle deformation, and collective grasping performance. Then, we experimentally tested how these entangling origami tentacles can grasp objects under gravity and in water. A stow-and-release deployment mechanism was also tested to simulate in-orbit grasping. Overall, this entanglement-enabled tentacle gripper presents a route toward robust object grasping with simple design and actuation.
