This paper presents the technique of flex-and-flip manipulation. It is suitable for grasping thin, flexible linear objects lying on a flat surface. During the manipulation process, the object is first flexed by a robotic gripper whose fingers are placed on top of it, and later the increased internal energy of the object helps the gripper obtain a stable pinch grasp while the object flips into the space between the fingers. The dynamic interaction between the flexible object and the gripper is elaborated by analyzing how energy is exchanged. We also discuss the condition on friction to prevent loss of contact. Our flex-and-flip manipulation technique can be implemented with open-loop control and lends itself to underactuated, compliant finger mechanism. A set of experiments in robotic page turning performed with our customized hardware and software system demonstrates the effectiveness and robustness of the manipulation technique.
翻译:本文提出了柔性翻转操控技术,适用于抓取放置在平面上的薄、柔性的直线物体。在操纵过程中,操作机器人的夹持器首先对物体进行曲折弯曲,然后由物体的增加内部能量帮助夹持器稳定捏合并将物体翻转到两个手指之间。通过分析能量交换,详细阐述了柔性物体与夹持器之间的动态交互。我们还讨论了防止失去接触的摩擦条件。我们的柔性翻转操控技术可以使用开环控制实施,并适用于欠驱动、柔性的手指机构。通过我们定制的硬件和软件系统进行的各种机器人翻页实验表明,该操纵技术的有效性和鲁棒性。