外观
论文arXiv 2609.129271 个月前
使用防水被动自适应夹爪稳健抓取水下斜面物体
原文链接：Robust Underwater Grasping of Sloped Objects with a Waterproof Passive Adaptive Gripper（arXiv 2609.12927 · 发布日期：2026-09-11）
Robust Underwater Grasping of Sloped Objects with a Waterproof Passive Adaptive Gripper
针对湿润或水下斜面物体易滚动滑移的问题，提出防水被动自适应夹爪，并在干燥和水下抓取实验中验证。
核心要点
- 平行夹爪抓取倾斜或非对称物体时，易因扭矩滚动和剪切滑移失稳。
- 夹爪采用全防水设计，结合被动旋转关节和可变刚度垫实现全局与局部适应。
- 在干燥和水下条件下，对多种圆柱与圆锥物体进行对比实验。
- 相较刚性垫和固定关节基线，表现出更强保持能力和抓取鲁棒性。
验证范围与局限：验证范围为干燥和水下条件下的多种圆柱与圆锥物体抓取实验。
英文摘要 (Abstract)
Robust grasping of everyday objects remains challenging for parallel-jaw grippers, particularly when handling sloped or asymmetric items that induce torque-driven rolling and shear slip. These challenges become even more severe in domestic environments such as kitchens, where objects are often wet or submerged, drastically reducing friction between the gripper and the object. To address these issues, we present a waterproof passive adaptive gripper that combines local and global adaptability for high-performance grasping in the submerged environments. The proposed gripper features a fully waterproof design that integrates a passive rotational joint for global self-alignment on sloped surfaces and passive variable-stiffness pads for local surface adaptation. Experiments in both dry and underwater conditions on various cylindrical and conical objects demonstrate superior holding capability and grasp robustness compared to rigid-pad and fixed-joint baselines. The proposed design offers a practical and robust solution that successfully enables stable underwater manipulation of diverse everyday objects, effectively addressing a critical gap in current underwater robotic grasping for daily-life applications.
作者：Jooyoung Hong, Daewon Hong, Joohyung Kim
来源
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