受蚂蚁启发的最小足迹抓取
Minimal Footprint Grasping Inspired by Ants
AI总结：
受蚂蚁启发，设计了一种低成本抓取器，通过模仿蚂蚁前腿的摩擦结构和柔顺性，实现了对多种物品的高效抓取和密集杂乱环境中的单物拾取。
摘要：
蚂蚁在杂乱环境中具有强大的抓取能力，我们最近观察到这涉及大量使用它们的前腿。具体来说，前腿特别是足节具有高摩擦微结构（刚毛垫），覆盖着毛发，并且具有灵活的欠驱动末端。在这里，我们抽象这些特征以测试其在新型低成本抓取器设计中的功能优势，适用于零件拾取应用。在我们的实现中，抓取腿较长且纤细，具有高摩擦抓取垫、低摩擦毛发和单段足节状结构，以模仿昆虫的刚毛垫、毛发以及足节的交互柔顺性。实验评估显示，这种设计在抓取各种个体消费产品时具有高度鲁棒性，所有抓取尝试均成功。此外，我们证明这种设计在从密集杂乱中拾取单个物体方面也有效，而蚂蚁在这一任务上也表现出高度能力。这项工作推进了抓取技术，并为昆虫中毛发结构和足节柔性的机械重要性提供了新的视角。
英文摘要：
Ants are highly capable of grasping objects in clutter, and we have recently observed that this involves substantial use of their forelegs. The forelegs, more specifically the tarsi, have high friction microstructures (setal pads), are covered in hairs, and have a flexible under-actuated tip. Here we abstract these features to test their functional advantages for a novel low-cost gripper design, suitable for bin-picking applications. In our implementation, the gripper legs are long and slim, with high friction gripping pads, low friction hairs and single-segment tarsus-like structure to mimic the insect's setal pads, hairs, and the tarsi's interactive compliance. Experimental evaluation shows this design is highly robust for grasping a wide variety of individual consumer objects, with all grasp attempts successful. In addition, we demonstrate this design is effective for picking single objects from dense clutter, a task at which ants also show high competence. The work advances grasping technology and shed new light on the mechanical importance of hairy structures and tarsal flexibility in insects.
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。
