受人类启发的新鲜果蔬抓取策略应用于机器人操作
Human-inspired Grasping Strategies of Fresh Fruits and Vegetables Applied to Robotic Manipulation
AI总结：
本研究借鉴人类抓取零散果蔬的操作策略，开发配备多指柔性夹爪的机器人抓取装置，通过物流行业KPIs验证其性能，为果蔬智能操作机器人的后续发展奠定基础。
摘要：
新鲜果蔬的机器人操作（包括抓取多个零散物品）有着强烈的工业需求，但目前仍是机器人操作领域的一项挑战性任务。本文概述了人类抓取零散果蔬时采用的独特操作策略，旨在更好地将这些策略应用于多种物品的机器人操作中。在本研究中，我们提出了首个版本的机器人装置，该装置专为抓取不同的单个或多个新鲜物品设计，配备多指柔性机器人夹爪。我们从物流行业使用的工业关键绩效指标（KPIs）角度分析了人类的抓取策略。该机器人系统使用相同的KPIs进行了验证，同时也参考了人类的表现和策略。本文为新鲜果蔬智能操作机器人演示装置的未来发展奠定了基础，并指出需要通用方法来应对该任务的复杂性。
英文摘要：
Robotic manipulation of fresh fruits and vegetables, including the grasping of multiple loose items, has a strong industrial need but it still is a challenging task for robotic manipulation. This paper outlines the distinctive manipulation strategies used by humans to pick loose fruits and vegetables with the aim to better adopt them for robotic manipulation of diverse items. In this work we present a first version of a robotic setup designed to pick different single or multiple fresh items, featuring multi-fingered compliant robotic gripper. We analyse human grasping strategies from the perspective of industrial Key Performance Indicators (KPIs) used in the logistic sector. The robotic system was validated using the same KPIs, as well as taking into account human performance and strategies. This paper lays the foundation for future development of the robotic demonstrator for fresh fruit and vegetable intelligent manipulation, and outlines the need for generic approaches to handle the complexity of the task.
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。
