灵巧松持规划：通过灵巧操作实现安全松持
Planning for Dexterous Ungrasping: Secure Ungrasping through Dexterous Manipulation
- The Hong Kong University of Science and Technology（香港科技大学）
机构由 AI 辅助整理，请以论文原文为准。
AI总结：
本文研究机器人灵巧松持问题，提出可规划最小成本安全运动路径的框架，并发现夹爪手指长度不对称是实现可行、安全松持的关键。
AI中文摘要：
本文提出了一种用于灵巧松持的机器人操作技术。灵巧松持是指通过灵巧操作，将被抓取物体从夹爪安全转移到机器人环境中的能力，即抓取或拾取的逆过程。围棋提供了一个例子：想象棋手通常如何通过手指、棋子和棋盘之间的灵巧交互，将最初以捏取方式抓住的棋子放到棋盘上。同样，灵巧松持应对的是改变物体相对于夹爪或环境构型的必要性，以便安全地保持对物体的掌控。具体而言，我们提出了一个规划框架，用于确定完成灵巧松持的可行最小成本运动路径。研究发现，夹爪中的手指不对称性，即手指长度差异，是实现可行且安全松持的关键。一组实验表明，灵巧松持在实际放置任务中具有有效性。
英文摘要：
This paper presents a robotic manipulation technique for dexterous ungrasping. It refers to the capability of securely transferring a grasped object from the gripper to the robot's environment, i.e. the inverse of grasping or picking, through dexterous manipulation. The game of Go offers an example: consider how the player would typically place an initially pinch-grasped stone onto the board through the dexterous interaction between the fingers, the stone, and the board. Likewise, dexterous ungrasping addresses the necessity of changing the object's configuration relative to the gripper or the environment in order to securely keep hold of the object. In particular, we present a planning framework for determining a feasible minimum-cost motion path that completes dexterous ungrasping. Digit asymmetry in a gripper, i.e. difference in digit lengths, is discovered as the key to feasible and secure ungrasping. A set of experiments show the effectiveness of dexterous ungrasping in practical placement tasks.
