论文标题
冲突手腕 - 一项硬件，以提高碰撞水果抓地力使用环境限制探索的能力
CLASH WRIST -- A hardware to increase the capability of CLASH fruit gripper to use environment constraints exploration
论文作者
论文摘要
人类在操纵中使用环境限制（EC）来弥补其世界模型中的不确定性。最近将相同的原理应用于机器人技术，因此通过使用环境限制剥削（ECE）[1]，软手动不足的手提高了其抓地力。由于机器人手的取向，例如在EC墙抓住中，机器人手腕的长度加上手的长度就会变得非常重要，如果物体被掌握在一个盒子中[2]。大多数现代的魔球机器人的手腕都很长，因此我们为冲突构建了两种自由手腕[3]，以解决这个问题（图1）。
Humans use environmental constraints (EC) in manipulation to compensate for uncertainties in their world model. The same principle was recently applied to robotics, so that soft underactuated hands improve their grasping capability by using environmental constraints exploitation (ECE) [1]. Due to orientation of the robotic hand for example in the EC wall grasp, the length of the robot wrist plus the hand length gets quite important, if objects are grasp out of a box [2] . Most of the modern cobots have quite long wrist, so we have constructed a two degree of freedom wrist for the CLASH [3], to solve this problem (Fig. 1).
