G.O.G: A Versatile Gripper-On-Gripper Design for Bimanual Cloth Manipulation with a Single Robotic Arm
作者: Dongmyoung Lee, Wei Chen, Xiaoshuai Chen, Nicolas Rojas
分类: cs.RO
发布日期: 2024-01-19
备注: Accepted for IEEE Robotics and Automation Letters in January 2024. Dongmyoung Lee and Wei Chen contributed equally to this research
期刊: IEEE Robotics and Automation Letters 2024
💡 一句话要点
提出G.O.G设计以解决单臂双手布料操作问题
🎯 匹配领域: 支柱一：机器人控制 (Robot Control)
关键词: 布料操作 单臂机器人 夹持器设计 机器人控制 灵活性提升
📋 核心要点
- 现有的双臂机器人系统在布料操作中成本高且控制复杂，难以有效协调。
- 本文提出G.O.G夹持器，利用单臂机器人实现双手布料操作，提升灵活性和效率。
- 实验结果显示，G.O.G设计在布料操作任务中表现优异，展示了单臂操作的潜力。
📝 摘要（中文）
布料的操作因其可变形特性和形状、尺寸的多样性而面临研究挑战。尽管已有研究通过机器人感知和控制来解决这些问题，但对机器人硬件的共同开发关注较少。大多数研究采用现成的夹持器和双臂机器人进行双手操作，导致系统成本和控制复杂性增加。为此，本文提出了一种新型夹持器G.O.G，基于夹持器-夹持器结构，允许单臂机器人实现双手布料操作。该设计通过调节夹持器指尖间距和摩擦模块，支持稳固和滑动抓取模式。实验结果表明，该设计在多种布料操作任务中展现出良好的性能。
🔬 方法详解
问题定义：本文旨在解决布料操作中双臂机器人系统的高成本和复杂控制问题。现有方法依赖于现成夹持器和双臂协调，难以有效应对布料的多样性和变形特性。
核心思路：提出G.O.G夹持器，通过夹持器-夹持器结构，使单臂机器人能够实现双手操作，减少对双臂协调的依赖，从而提高操作灵活性。
技术框架：整体架构包括一个主夹持器和两个指尖夹持器，主夹持器可独立调节指尖间距，指尖夹持器则具备可变摩擦模块，支持不同抓取模式。
关键创新：G.O.G设计的核心创新在于其夹持器-夹持器结构，允许单臂机器人在不依赖双臂协调的情况下进行复杂的布料操作，这与传统双臂系统形成鲜明对比。
关键设计：夹持器的指尖间距可调至500mm，摩擦模块设计支持稳固和滑动抓取模式，确保在不同布料操作任务中的适应性和灵活性。实验中采用家庭物品和布料对象进行性能评估。
🖼️ 关键图片
📊 实验亮点
实验结果表明，G.O.G设计在布料操作任务中表现出色，相较于传统双臂系统，操作灵活性和效率显著提升，能够有效应对多样化的布料特性。
🎯 应用场景
该研究的潜在应用领域包括服装制造、家居清洁和机器人辅助等场景。通过单臂机器人实现高效的布料操作，能够降低成本并简化控制，具有广泛的实际价值和未来影响。
📄 摘要（原文）
The manipulation of garments poses research challenges due to their deformable nature and the extensive variability in shapes and sizes. Despite numerous attempts by researchers to address these via approaches involving robot perception and control, there has been a relatively limited interest in resolving it through the co-development of robot hardware. Consequently, the majority of studies employ off-the-shelf grippers in conjunction with dual robot arms to enable bimanual manipulation and high dexterity. However, this dual-arm system increases the overall cost of the robotic system as well as its control complexity in order to tackle robot collisions and other robot coordination issues. As an alternative approach, we propose to enable bimanual cloth manipulation using a single robot arm via novel end effector design -- sharing dexterity skills between manipulator and gripper rather than relying entirely on robot arm coordination. To this end, we introduce a new gripper, called G.O.G., based on a gripper-on-gripper structure where the first gripper independently regulates the span, up to 500mm, between its fingers which are in turn also grippers. These finger grippers consist of a variable friction module that enables two grasping modes: firm and sliding grasps. Household item and cloth object benchmarks are employed to evaluate the performance of the proposed design, encompassing both experiments on the gripper design itself and on cloth manipulation. Experimental results demonstrate the potential of the introduced ideas to undertake a range of bimanual cloth manipulation tasks with a single robot arm. Supplementary material is available at https://sites.google.com/view/gripperongripper.