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首页> 外文会议>IEEE International Conference on Soft Robotics >Variable compliance and geometry regulation of Soft-Bubble grippers with active pressure control
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Variable compliance and geometry regulation of Soft-Bubble grippers with active pressure control

机译：具有主动压力控制的软气泡夹具的可变合规性和几何调节

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While compliant grippers have become increasingly commonplace in robot manipulation, finding the right stiffness and geometry for grasping the widest variety of objects remains a key challenge. Adjusting both stiffness and gripper geometry on the fly may provide the versatility needed to manipulate the large range of objects found in domestic environments. We present a system for actively controlling the geometry (inflation level) and compliance of Soft-bubble grippers - air filled, highly compliant parallel gripper fingers incorporating visuotactile sensing. The proposed system enables large, controlled changes in gripper finger geometry and grasp stiffness, as well as simple in-hand manipulation. We also demonstrate, despite these changes, the continued viability of advanced perception capabilities such as dense geometry and shear force measurement - we present a straightforward extension of our previously presented approach for measuring shear induced displacements using the internal imaging sensor and taking into account pressure and geometry changes. We quantify the controlled variation of grasp-free geometry, grasp stiffness and contact patch geometry resulting from pressure regulation and we demonstrate new capabilities for the gripper in the home by grasping in constrained spaces, manipulating tools requiring lower and higher stiffness grasps, as well as contact patch modulation.
机译：虽然符合杠杆夹具在机器人操作中越来越普遍，但找到抓住最广泛的物体的正确僵硬和几何形状仍然是一个关键挑战。调整刚度和夹持器几何形状可提供操纵在国内环境中发现的大量物体所需的多功能性。我们提出了一种积极控制软泡夹具的几何（通胀水平）和依从性的系统，所述软泡夹子 - 空气填充，高度柔顺平行的夹持器，其含有粘合性感测。所提出的系统使夹具手指几何形状和掌握刚度的大，控制变化，以及简单的手动操作。尽管有这些变化，我们还证明了先进的几何和剪切力测量等先进感知能力的持续存活率 - 我们展示了我们先前提出的方法，用于使用内部成像传感器测量剪切诱导的位移并考虑压力和压力几何变化。通过压力调节，量化抓住几何形状，掌握刚度和接触贴片几何形状的受控变化，并通过抓住约束空间，操纵需要更低和更高刚度掌握的工具以及更高刚度掌握的工具来证明家庭中的夹具的新能力。联系贴片调制。

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