DexGrip：具备灵巧抓取与手内操作能力的多模态软体抓手
DexGrip: Multi-modal Soft Gripper with Dexterous Grasping and In-hand Manipulation Capacity
AI总结：
针对软体机器人抓手操作能力不足的问题，提出DexGrip多模态软体抓手，通过3自由度主动吸掌和3个主动旋转抓取面实现全主轴360度操作，实验证明其能灵巧操作多种复杂物体。
摘要：
机器人抓手不仅能抓取物体，还能在手中重新定位和调整物体方向的能力，对实现多功能、通用的操作至关重要。尽管软体机器人抓取技术的最新进展极大提升了抓取质量和稳定性，但其操作能力仍未得到充分探索。本文提出DexGrip，一种用于手内抓取、重新定向和操作的多模态软体机器人抓手。DexGrip具有3个自由度（DoFs）的主动吸掌和3个主动（旋转）抓取面，无需重新抓取物体即可实现柔软、稳定且灵巧的抓取与操作。独特的是，这些特性使其能在所有三个主轴上实现360度完全旋转。我们通过实验展示了其在多种物体和任务中的能力：DexGrip成功抓取、重新定位和调整了刚度、尺寸、重量及表面纹理差异极大的物体，并有效操作了现有机器人抓手面临重大挑战的物体。
英文摘要：
The ability of robotic grippers to not only grasp but also re-position and re-orient objects in-hand is crucial for achieving versatile, general-purpose manipulation. While recent advances in soft robotic grasping has greatly improved grasp quality and stability, their manipulation capabilities remain under-explored. This paper presents the DexGrip, a multi-modal soft robotic gripper for in-hand grasping, re-orientation and manipulation. DexGrip features a 3 Degrees of Freedom (DoFs) active suction palm and 3 active (rotating) grasping surfaces, enabling soft, stable, and dexterous grasping and manipulation without ever needing to re-grasp an object. Uniquely, these features enable complete 360 degree rotation in all three principal axes. We experimentally demonstrate these capabilities across a diverse set of objects and tasks. DexGrip successfully grasped, re-positioned, and re-oriented objects with widely varying stiffnesses, sizes, weights, and surface textures; and effectively manipulated objects that presented significant challenges for existing robotic grippers.
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。
