AI 中文总结
本文提出协同设计框架，开发Koala Gripper系统，该系统兼具数据采集与机器人夹持器功能，可提升灵巧操作能力，经端到端管道验证能支持演示学习，助力扩展操作数据集规模。
AI 中文摘要
随着对更大规模操作数据集的需求不断增长，手持机器人夹持器的数据采集及相关夹持器设计变得愈发重要。当前的数据采集装置设计倾向于匹配现有机器人夹持器的形态，却牺牲了人体工程学和操作性能。本文提出一种协同设计框架，通过将两类平台约束融入设计流程，指导数据采集装置与机器人执行装置的同步开发。通过该工作流程，我们推出了Koala Gripper系统，这是一种数据采集装置与机器人夹持器平台，与平行爪式夹持器相比，它在保持可扩展性和易用性的同时，提升了灵巧度和抓取能力。该设计引入了一种新型力优化型手指/扳机连杆机构，具有定向反射质量特性，采用独特的整体式双拇指结构，以及以用户为中心的人体工程学设计。该设计的驱动式机器人手指可反向驱动，有效质量约为几十克。我们展示了这些夹持器能够对广泛范围内的物体实现稳定抓取，完成有力的工具使用，以及精确的分离操作。我们还通过部署端到端的数据采集与策略执行管道验证了该平台，该管道通过从演示中学习凸显了其能力。更多信息可访问此http URL
英文摘要
As the demand for larger manipulation datasets grows, handheld robotic gripper data collection and the associated gripper designs become more vital. Current data collection device designs trend towards matching the morphologies of existing robotic grippers, sacrificing ergonomics and manipulation performance. In this paper, we propose a co-design framework that guides the simultaneous development of both data collection and robotic execution devices by weaving both platform constraints into the design process. Through this workflow, we present the Koala Gripper system, a data capture device and robotic gripper platform that improves dexterity and grasp capability compared to parallel jaw grippers while preserving scalability and ease-of-use. The design introduces a novel force-optimized finger/trigger linkage mechanism with directional reflected mass characteristics, a unique monolithic dual-thumb, and user-centered ergonomic design. The design's actuated robotic fingers are backdrivable, with effective mass on the order of tens of grams. We show that these grippers are capable of secure grasps over a wide range of objects, forceful tool use, and precise singulation. We further validate the platform by deploying it with an end-to-end data collection and policy execution pipeline that highlights its capabilities through learning from demonstration. More information available at http://koalagripper.rai-inst.com
CommentsPaper website: http://koalagripper.rai-inst.com Paper video: http://www.youtube.com/watch?v=ZoygFCWAVhg
