夹持器
计算机科学
接触力
人工智能
触觉传感器
节点(物理)
机器人
计算机视觉
控制理论(社会学)
工程类
机械工程
物理
结构工程
控制(管理)
量子力学
作者
Wenfu Xu,Heng Zhang,Han Yuan,Bin Liang
出处
期刊:IEEE Transactions on Robotics
[Institute of Electrical and Electronics Engineers]
日期:2021-10-01
卷期号:37 (5): 1584-1603
被引量:29
标识
DOI:10.1109/tro.2021.3060971
摘要
Grasping unstructured objects and sensing the contact force are two vital issues for grippers. However, it is still difficult for most existing grippers to realize these two functions simultaneously. In this article, we revise the traditional fin-ray finger by inserting a series of rigid nodes into the compliant structure and develop an adaptive two-finger gripper. This design linearizes the gripper's deformation-force relationship and enables an intrinsic force sensing ability without any tactile sensor. Experimental results show that the finger has high accuracy in sensing the external force applied at its middle part (average error less than 3%) but much larger errors appear near its two ends. Further experiments indicate that the gripper functions well in sensing the total grasping force (average error less than 8%). Although larger errors are observed in estimating the force distribution at each node, the variation tendency of the sensed force coincides well with the ground truth. Experiments are also carried out on grasping free-form objects and performing pick-and-place operations to further prove the gripper's adaptive grasping and intrinsic force sensing abilities.
科研通智能强力驱动
Strongly Powered by AbleSci AI