手持滑动感知物体操控的感知、控制与硬件
Perception, Control and Hardware for In-Hand Slip-Aware Object Manipulation with Parallel Grippers
AI总结：
本文提出了一种基于传感器的夹具，用于实现滑动感知的在手操控，通过四个控制器有效提升了对平面物体的操控能力。
摘要：
灵巧的在手操控为提升机器人机械臂能力提供了巨大潜力。本文提出了一种用于在手滑动感知控制的感知-运动架构，该架构体现在一个配备了传感器的夹具中。我们的架构中的夹具具有快速闭环、低级力控制，并配备了能够独立测量接触力和滑动速度的传感器。我们的系统可以仅利用在手感知快速估计拾取过程中物体的必要属性，而不需要依赖先前的物体信息。我们介绍了四个不同的滑动控制器：用于旋转和线性滑动的重力辅助轨迹跟随控制器、保持物体方向的铰链控制器以及滑动避让控制器。夹具安装在机械臂上，并通过广泛涉及各种物体的实验进行了验证，展示了该架构在操控具有平面表面的物体方面的新型能力。
英文摘要：
Dexterous in-hand manipulation offers significant potential to enhance robotic manipulator capabilities. This paper presents a sensori-motor architecture for in-hand slip-aware control, being embodied in a sensorized gripper. The gripper in our architecture features rapid closed-loop, low-level force control, and is equipped with sensors capable of independently measuring contact forces and sliding velocities. Our system can quickly estimate essential object properties during pick-up using only in-hand sensing, without relying on prior object information. We introduce four distinct slippage controllers: gravity-assisted trajectory following for both rotational and linear slippage, a hinge controller that maintains the object's orientation while the gripper rotates, and a slip-avoidance controller. The gripper is mounted on a robot arm and validated through extensive experiments involving a diverse range of objects, demonstrating the architecture's novel capabilities for manipulating objects with flat surfaces.
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。
