发表机构
Waseda University（早稻田大学）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
该研究提出集成主动引入与抓取后保持功能的混合滚轮-颗粒阻塞夹爪，经840次抓取试验评估，在平面与方向偏移下成功率达96.7%，证明其可改善位姿不确定下的物体抓取与保持效果。
AI 中文摘要
在家庭操作场景中，位姿不确定性常导致初始接触偏离中心或仅部分接触，使可靠的物体抓取变得困难。基于滚轮的夹爪可主动将物体向内吸引，但抓取后稳定性通常有限；而颗粒阻塞夹爪则需要在阻塞前有足够的接触才能实现强保持力。本文提出一种混合滚轮-颗粒阻塞夹爪，将主动物体引入与抓取后保持功能集成在单个夹爪中。该夹爪通过滚轮向内旋转增加接触并将物体拉向夹爪中心，随后通过真空诱导的颗粒阻塞使滚轮变硬以稳定抓取。本文还对该夹爪进行了简化几何分析，并对原型的力能力进行了台架表征。将夹爪原型安装在7自由度（7-DoF）机械臂上，使用8个测试物体进行评估，同时施加受控的平面位置和方向偏移，每种条件重复3次。主要评估包含840次抓取试验，其中216次为平面偏移试验，624次为方向偏移试验。总体而言，该夹爪在840次试验中成功812次：216次平面偏移试验中成功215次，624次方向偏移试验中成功597次。消融评估对3个物体进行了162次试验，仅滚轮和仅阻塞条件分别取得54/81和24/81的成功率，显示了两种功能的不同贡献。这些结果从机制层面初步证明，混合滚轮-颗粒阻塞是改善初始接触不完善后的抓取与保持的有前景策略。
英文摘要
In household manipulation, pose uncertainty often results in off-centre or partial initial contact, making reliable object acquisition difficult. Roller-based grippers can actively draw objects inward but often provide limited post-capture stability, whereas granular-jamming grippers require sufficient contact before jamming to achieve strong retention. This paper presents a hybrid roller-jamming gripper that integrates active object intake and post-capture retention within a single gripper. The proposed gripper uses inward roller rotation to increase contact and draw the object toward the gripper centre, followed by vacuum-induced granular jamming to stiffen the rollers and stabilise the grasp. The paper also presents a simplified geometric analysis of the gripper and a bench-level characterisation of the prototype's force capability. The gripper prototype was mounted on a 7-DoF robotic arm and evaluated using eight test objects. Furthermore, controlled planar position and orientation offsets were applied, with each condition repeated three times. The main evaluation comprised 840 grasp trials, including 216 planar-offset trials and 624 orientation-offset trials. Overall, the gripper succeeded in 812/840 trials: 215/216 planar-offset trials and 597/624 orientation-offset trials. The ablation evaluation comprised 162 trials on three objects. The roller-only and jamming-only conditions achieved 54/81 and 24/81 successes, respectively, showing their different contributions. These results provide initial mechanism-level evidence that hybrid roller-jamming is a promising strategy for improving acquisition and retention after imperfect first contact.
Comments11 pages, 16 figures, under review
