通过被动滚轮实现异向摩擦调节的机器人灵巧操作
Robotic Dexterous Manipulation via Anisotropic Friction Modulation using Passive Rollers
AI总结：
本文提出一种通过被动滚轮调节接触摩擦和约束方向的机器人指尖设计，实现了多样化的灵巧操作，包括滑动、旋转和多物体 manipulation，展示了低复杂度机械高效摩擦调节方法的优越性。
摘要：
在指尖控制摩擦对于灵巧操作至关重要，但目前在机器人手中仍难以实现。本文提出了一种配备被动滚轮的机器人指尖设计，通过选择性刹车或旋转滚轮来调节接触摩擦和约束方向。当未刹车时，滚轮允许接触点沿滚动方向无约束滑动；当刹车时，它们像传统指尖一样抵抗运动。滚轮安装在旋转机制上，允许重新定向约束框架以适应不同操作任务。我们开发了一个基于约束的指尖模型，并将其整合到并行咬合夹具中，分析其支持多样化操作策略的能力。实验表明，所提出的设计能够实现一系列常规难以完成的灵巧动作，包括在抓握内滑动和旋转、对不确定接触的鲁棒适应、多物体或多部分操作以及需要手指间不对称摩擦的交互。这些结果展示了被动滚轮指尖作为低复杂度、机械高效摩擦调节方法的多功能性，推动了更适应和鲁棒的机器人操作发展。
英文摘要：
Controlling friction at the fingertip is fundamental to dexterous manipulation, yet remains difficult to realize in robotic hands. We present the design and analysis of a robotic fingertip equipped with passive rollers that can be selectively braked or pivoted to modulate contact friction and constraint directions. When unbraked, the rollers permit unconstrained sliding of the contact point along the rolling direction; when braked, they resist motion like a conventional fingertip. The rollers are mounted on a pivoting mechanism, allowing reorientation of the constraint frame to accommodate different manipulation tasks. We develop a constraint-based model of the fingertip integrated into a parallel-jaw gripper and analyze its ability to support diverse manipulation strategies. Experiments show that the proposed design enables a wide range of dexterous actions that are conventionally challenging for robotic grippers, including sliding and pivoting within the grasp, robust adaptation to uncertain contacts, multi-object or multi-part manipulation, and interactions requiring asymmetric friction across fingers. These results demonstrate the versatility of passive roller fingertips as a low-complexity, mechanically efficient approach to friction modulation, advancing the development of more adaptable and robust robotic manipulation.
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