Katzschmann Robert K, Marchese Andrew D, Rus Daniela
Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology , Cambridge, Massachusetts.
Soft Robot. 2015 Dec 1;2(4):155-164. doi: 10.1089/soro.2015.0013.
This article presents the development of an autonomous motion planning algorithm for a soft planar grasping manipulator capable of grasp-and-place operations by encapsulation with uncertainty in the position and shape of the object. The end effector of the soft manipulator is fabricated in one piece without weakening seams using lost-wax casting instead of the commonly used multilayer lamination process. The soft manipulation system can grasp randomly positioned objects within its reachable envelope and move them to a desired location without human intervention. The autonomous planning system leverages the compliance and continuum bending of the soft grasping manipulator to achieve repeatable grasps in the presence of uncertainty. A suite of experiments is presented that demonstrates the system's capabilities.
本文介绍了一种用于软平面抓取机械手的自主运动规划算法的开发，该机械手能够通过封装物体位置和形状的不确定性来执行抓取和放置操作。软机械手的末端执行器采用失蜡铸造法一体成型，没有削弱接缝，而不是常用的多层层压工艺。软操纵系统可以在其可及范围内抓取随机放置的物体，并在无需人工干预的情况下将它们移动到所需位置。自主规划系统利用软抓取机械手的柔顺性和连续弯曲特性，在存在不确定性的情况下实现可重复抓取。文中展示了一系列实验，证明了该系统的能力。
