Core Concepts
ローラーリングを使用したウェアラブルデバイスは、積極的な表面を介してロボットの巧みな手の操作を可能にします。
Abstract
I. Introduction
In-hand manipulation is crucial for reorienting and repositioning objects within grasps.
Challenges include computational complexity and grasp instability due to active finger motions.
II. Related Work
Extensive studies have focused on improving in-hand manipulation through new hand designs and computational models.
III. Design Principles for Roller Rings
The design aims to provide full spatial manipulation capability, compact form factor, and customizability.
IV. Motion Model for In-Hand Manipulation
A general motion model is derived for active surface-based in-hand manipulation.
V. Experiments
Physical experiments validate the RR's ability to manipulate various objects with rotations and translations.
Rotational Manipulation: Objects like spheres and toys can be rotated using RRs attached to robot or human hands.
Translational and Rotation Manipulation: Objects like tubes, toys, and cubes can be translated and rotated using RRs.
Object Variance: Object geometry affects manipulation capabilities of RRs on different grasping systems.
Limitations: Geometric constraints, friction issues, and non-compliance are limitations of the RR design.
VI. Conclusion and Future Work
The RR design enhances in-hand manipulation capabilities with active surfaces.
Stats
この論文では、2つのローラーリングで完全な回転操作が可能であることが示されています。
ロボット手や人間の手に取り付けられたRRは、さまざまなオブジェクトを操作する能力を物理的に検証するためにプロトタイプが構築されました。