论文标题
符合符合灵活性分布式操作的线性三角洲阵列
Linear Delta Arrays for Compliant Dexterous Distributed Manipulation
论文作者
论文摘要
本文介绍了一种新型的分布式灵巧操纵器：三角洲阵列。我们的Delta阵列设置由64个线性驱动的Delta机器人组成，并具有3D打印的兼容链接。通过设计单个三角洲机器人，模块化阵列结构以及分布式通信和控制，我们研究了广泛的面内和平面外操作，以及邻近的Delta机器人子集之间的预定性操纵。我们还使用增强学习来证明三角阵列的灵巧操纵能力，同时利用合规性不破坏最终效果。我们的评估表明，由此产生的192 DOF机器人能够对各种物体进行各种协调的分布操作，包括翻译，对准，预先匹配，提起和抓握。
This paper presents a new type of distributed dexterous manipulator: delta arrays. Our delta array setup consists of 64 linearly-actuated delta robots with 3D-printed compliant linkages. Through the design of the individual delta robots, the modular array structure, and distributed communication and control, we study a wide range of in-plane and out-of-plane manipulations, as well as prehensile manipulations among subsets of neighboring delta robots. We also demonstrate dexterous manipulation capabilities of the delta array using reinforcement learning while leveraging the compliance to not break the end-effectors. Our evaluations show that the resulting 192 DoF compliant robot is capable of performing various coordinated distributed manipulations of a variety of objects, including translation, alignment, prehensile squeezing, lifting, and grasping.
