RAPTOR: 机器人快速空中抓取与运输物体
RAPTOR: Rapid Aerial Pickup and Transport of Objects by Robots
AI总结：
提出一种结合软材料Fin Ray夹爪和Fast DDS中间件的四旋翼平台RAPTOR，实现高速飞行中对不同几何形状物体的灵活抓取，平均抓取成功率83%，有效载荷达先前工作的四倍。
摘要：
通过机器人进行快速空中抓取可以推动许多利用物体快速动态抓取和放置的应用。传统用于空中机械臂的刚性夹爪需要高精度和特定物体几何形状才能成功抓取。我们提出RAPTOR，一种四旋翼平台结合定制Fin Ray夹爪，利用软材料的特性增加夹爪与物体之间的接触面，从而实现对不同几何形状物体的更灵活抓取。为了减少通信延迟，我们提出一种基于Fast DDS（数据分发服务）的新型轻量级中间件解决方案，作为ROS（机器人操作系统）的替代方案。我们展示了RAPTOR在真实环境中以平均1 m/s的速度抓取四种不同几何形状物体时，平均抓取成功率达到83%。在高速设置下，RAPTOR的有效载荷是先前工作的四倍。我们的结果突显了空中无人机在自动化仓库和其他需要速度、敏捷性和鲁棒性且在难以到达区域操作的操作应用中的潜力。
英文摘要：
Rapid aerial grasping through robots can lead to many applications that utilize fast and dynamic picking and placing of objects. Rigid grippers traditionally used in aerial manipulators require high precision and specific object geometries for successful grasping. We propose RAPTOR, a quadcopter platform combined with a custom Fin Ray gripper to enable more flexible grasping of objects with different geometries, leveraging the properties of soft materials to increase the contact surface between the gripper and the objects. To reduce the communication latency, we present a new lightweight middleware solution based on Fast DDS (Data Distribution Service) as an alternative to ROS (Robot Operating System). We show that RAPTOR achieves an average of 83% grasping efficacy in a real-world setting for four different object geometries while moving at an average velocity of 1 m/s during grasping. In a high-velocity setting, RAPTOR supports up to four times the payload compared to previous works. Our results highlight the potential of aerial drones in automated warehouses and other manipulation applications where speed, swiftness, and robustness are essential while operating in hard-to-reach places.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
