arXiv 2505.189942025-05-25cs.RO

设计按钉式夹爪并学习其在线手内调整的灵巧抓取

Designing Pin-pression Gripper and Learning its Dexterous Grasping with Online In-hand Adjustment

Dalian University of Technology（大连理工大学）；Wuhan University（武汉大学）；Shenyang University of Technology（沈阳理工大学）；National University of Defense Technology（国防科技大学）

Hewen Xiao, Xiuping Liu, Hang Zhao, Jian Liu, Kai Xu

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AI总结：

受按钉玩具启发，我们设计了一种可动态调整按钉伸缩的平行颚式夹爪，并开发了专用强化学习与课程学习算法，实现高效抓取和手内调整，展现出对未知物体的强泛化能力，且成功实现仿真到实物的迁移。

摘要：

我们提出了一种新颖的平行颚式夹爪设计，其灵感来源于按钉玩具。所提出的按钉式夹爪具有独特机制，每个手指集成了一个可独立伸缩的二维按钉阵列。这种独特设计使夹爪能够通过动态调整按钉的伸缩，即时定制手指形状以贴合被抓取物体。此外，该夹爪擅长通过动态调整按钉实现物体手内重新定向，以增强抓取稳定性。为了学习按钉式夹爪的动态抓取技能，我们设计了一种专门的强化学习算法，并精心设计了状态表示和奖励塑形。为了实现更高效的抓取-提升模式，我们提出了一种课程学习方案。广泛评估表明，我们的设计结合所学技能，能够实现高度灵活和稳健的抓取，并且对未见物体的泛化能力远强于其他方案。我们还展示了在物理制造的按钉式夹爪上进行的仿真到现实迁移的令人鼓舞的实际结果，证明了我们新颖的夹爪设计和抓取技能的实际意义。本文的演示视频可在 https://github.com/siggraph-pin-pression-gripper/pin-pression-gripper-video 获取。

英文摘要：

We introduce a novel design of parallel-jaw grippers drawing inspiration from pin-pression toys. The proposed pin-pression gripper features a distinctive mechanism in which each finger integrates a 2D array of pins capable of independent extension and retraction. This unique design allows the gripper to instantaneously customize its finger's shape to conform to the object being grasped by dynamically adjusting the extension/retraction of the pins. In addition, the gripper excels in in-hand re-orientation of objects for enhanced grasping stability again via dynamically adjusting the pins. To learn the dynamic grasping skills of pin-pression grippers, we devise a dedicated reinforcement learning algorithm with careful designs of state representation and reward shaping. To achieve a more efficient grasp-while-lift grasping mode, we propose a curriculum learning scheme. Extensive evaluations demonstrate that our design, together with the learned skills, leads to highly flexible and robust grasping with much stronger generality to unseen objects than alternatives. We also highlight encouraging physical results of sim-to-real transfer on a physically manufactured pin-pression gripper, demonstrating the practical significance of our novel gripper design and grasping skill. Demonstration videos for this paper are available at https://github.com/siggraph-pin-pression-gripper/pin-pression-gripper-video.

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。