发表机构
University of Illinois, Urbana-Champaign（伊利诺伊大学厄巴纳-香槟分校）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
针对水下斜面物体抓取易滑动问题，提出防水被动自适应夹爪，结合全局自对准与局部变刚度，实验验证其鲁棒性优于基线，实现稳定抓取。
AI 中文摘要
对于平行颚式夹爪而言，稳健地抓取日常物体仍然具有挑战性，尤其是在处理斜面或不对称物品时，这些物品会引发扭矩驱动的滚动和剪切滑移。在厨房等家庭环境中，这些挑战变得更加严峻，因为物体通常是湿的或浸没在水中的，这大大降低了夹爪与物体之间的摩擦力。为了解决这些问题，我们提出了一种防水被动自适应夹爪，它结合了局部和全局适应性，可在水下环境中实现高性能抓取。所提出的夹爪采用全防水设计，集成了一个被动旋转关节，用于在斜面上实现全局自对准，以及被动变刚度垫，用于局部表面适应。在干燥和水下条件下对各种圆柱形和圆锥形物体进行的实验表明，与刚性垫和固定关节基线相比，该夹爪具有优越的保持能力和抓取鲁棒性。所提出的设计提供了一种实用且稳健的解决方案，能够成功实现对各种日常物体的稳定水下操作，有效填补了当前水下机器人抓取在日常应用中的关键空白。
英文摘要
Robust grasping of everyday objects remains challenging for parallel-jaw grippers, particularly when handling sloped or asymmetric items that induce torque-driven rolling and shear slip. These challenges become even more severe in domestic environments such as kitchens, where objects are often wet or submerged, drastically reducing friction between the gripper and the object. To address these issues, we present a waterproof passive adaptive gripper that combines local and global adaptability for high-performance grasping in the submerged environments. The proposed gripper features a fully waterproof design that integrates a passive rotational joint for global self-alignment on sloped surfaces and passive variable-stiffness pads for local surface adaptation. Experiments in both dry and underwater conditions on various cylindrical and conical objects demonstrate superior holding capability and grasp robustness compared to rigid-pad and fixed-joint baselines. The proposed design offers a practical and robust solution that successfully enables stable underwater manipulation of diverse everyday objects, effectively addressing a critical gap in current underwater robotic grasping for daily-life applications.
