通过颗粒机械超材料的纠缠实现复杂抓取
Complex picking via entanglement of granular mechanical metamaterials
AI总结：
本文提出利用纠缠颗粒超材料的随机几何纠缠特性，通过电磁铁吸附与重激活机制，在传统夹爪难以胜任的场景下实现复杂目标物的稳健机器人抓取。
摘要：
当物体聚集打包在一起时，物理相互作用是不可避免的。这些相互作用源于物体的几何特征；其中一些特征促进纠缠，而另一些则产生排斥。当发生纠缠时，聚集体表现出全局的复杂行为，这源于物体之间随机的相互作用。我们将这种聚集体称为纠缠颗粒超材料。我们研究了构成聚集体的物体（以下称为颗粒）的几何特征，以最大化纠缠。我们假设，由高纠缠倾向颗粒组成的聚集体，也将表现出与第二个纠缠物体聚集体相互作用的倾向。为了证明这一点，我们使用纠缠颗粒超材料来执行复杂的机器人抓取任务，而传统夹爪在这些任务中往往难以胜任。我们使用电磁铁吸引超材料（铁磁性）并将其放置在第二个物体聚集体（目标物，非铁磁性）上。当电磁铁重新启动时，纠缠确保了超材料和目标物均被抓取，其物理结合程度各不相同，且强烈依赖于几何特征。有趣的是，尽管超材料的结构排列是随机的，但它与第二种纠缠介质产生了可重复且一致的相互作用，从而实现了对后者的稳健抓取。
英文摘要：
When objects are packed in a cluster, physical interactions are unavoidable. Such interactions emerge because of the objects geometric features; some of these features promote entanglement, while others create repulsion. When entanglement occurs, the cluster exhibits a global, complex behaviour, which arises from the stochastic interactions between objects. We hereby refer to such a cluster as an entangled granular metamaterial. We investigate the geometrical features of the objects which make up the cluster, henceforth referred to as grains, that maximise entanglement. We hypothesise that a cluster composed from grains with high propensity to tangle, will also show propensity to interact with a second cluster of tangled objects. To demonstrate this, we use the entangled granular metamaterials to perform complex robotic picking tasks, where conventional grippers struggle. We employ an electromagnet to attract the metamaterial (ferromagnetic) and drop it onto a second cluster of objects (targets, non-ferromagnetic). When the electromagnet is re-activated, the entanglement ensures that both the metamaterial and the targets are picked, with varying degrees of physical engagement that strongly depend on geometric features. Interestingly, although the metamaterials structural arrangement is random, it creates repeatable and consistent interactions with a second tangled media, enabling robust picking of the latter.
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。
