G.O.G：一种用于单机械臂双手布料操作的多功能夹爪上夹爪设计
G.O.G: A Versatile Gripper-On-Gripper Design for Bimanual Cloth Manipulation with a Single Robotic Arm
AI总结：
本文提出 G.O.G. 夹爪上夹爪末端执行器，通过可变摩擦双模式手指与最大500 mm跨度设计，使单机械臂能够完成多种双手布料操作任务。
摘要：
由于服装具有可变形特性，并且形状和尺寸差异极大，因此对其进行操作构成了研究挑战。尽管研究人员已尝试通过涉及机器人感知与控制的多种方法来解决这些问题，但通过协同开发机器人硬件来解决该问题所受到的关注相对有限。因此，大多数研究采用现成夹爪并结合双机器人手臂，以实现双手操作和高灵巧性。然而，这种双臂系统增加了机器人系统的总体成本，也提高了为处理机器人碰撞及其他机器人协调问题所需的控制复杂度。作为一种替代方法，本文提出通过新颖的末端执行器设计，使用单个机器人手臂实现双手布料操作——在机械臂与夹爪之间共享灵巧技能，而不是完全依赖机器人手臂协调。为此，本文介绍了一种名为 G.O.G. 的新型夹爪，其基于 gripper-on-gripper（夹爪上夹爪）结构：第一个夹爪独立调节其手指之间最大可达 500 mm 的跨度，而这些手指本身也是夹爪。这些手指夹爪包含可变摩擦模块，可实现两种抓取模式：牢固抓取和滑动抓取。研究采用家居物品和布料对象基准来评估所提出设计的性能，评估既包括针对夹爪设计本身的实验，也包括布料操作实验。实验结果证明了所提出想法在利用单个机器人手臂承担一系列双手布料操作任务方面的潜力。补充材料可在 https://sites.google.com/view/gripperongripper 获取。
英文摘要：
The manipulation of garments poses research challenges due to their deformable nature and the extensive variability in shapes and sizes. Despite numerous attempts by researchers to address these via approaches involving robot perception and control, there has been a relatively limited interest in resolving it through the co-development of robot hardware. Consequently, the majority of studies employ off-the-shelf grippers in conjunction with dual robot arms to enable bimanual manipulation and high dexterity. However, this dual-arm system increases the overall cost of the robotic system as well as its control complexity in order to tackle robot collisions and other robot coordination issues. As an alternative approach, we propose to enable bimanual cloth manipulation using a single robot arm via novel end effector design -- sharing dexterity skills between manipulator and gripper rather than relying entirely on robot arm coordination. To this end, we introduce a new gripper, called G.O.G., based on a gripper-on-gripper structure where the first gripper independently regulates the span, up to 500mm, between its fingers which are in turn also grippers. These finger grippers consist of a variable friction module that enables two grasping modes: firm and sliding grasps. Household item and cloth object benchmarks are employed to evaluate the performance of the proposed design, encompassing both experiments on the gripper design itself and on cloth manipulation. Experimental results demonstrate the potential of the introduced ideas to undertake a range of bimanual cloth manipulation tasks with a single robot arm. Supplementary material is available at https://sites.google.com/view/gripperongripper.
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。
