论文标题
罗马：用3D打印的附加机制在机器人上制作日常对象
Roman: Making Everyday Objects Robotically Manipulable with 3D-Printable Add-on Mechanisms
论文作者
论文摘要
机器人技术的一个重要愿景是通过操纵不同的日常物体（例如手动工具，厨房用具）来提供身体帮助。但是，许多用于灵巧的手动控制的物体不容易被带有通用平行握把的单个机器人手臂操纵。与现有有关开发抓刀和控制算法的研究的互补，我们向罗马展示了一套硬件设计和软件工具支持机器人工程师的支持，以创建日常手持式物体附加的3D可打印机制，从而使它们更容易被传统的机器人臂操纵。罗马硬件配备了一种多功能的磁抓手，该磁力机可以打开/关闭手持式对象并驱动附加机制来执行任务。罗曼还提供了用于注册和作者控制程序的软件支持。为了验证我们的方法，我们为在设计空间内提出的14种日常对象/任务设计和制造了罗马机制，并与机器人工程师进行了专家访谈，表明罗马是实现日常物体机器人操纵的实用替代方法。
One important vision of robotics is to provide physical assistance by manipulating different everyday objects, e.g., hand tools, kitchen utensils. However, many objects designed for dexterous hand-control are not easily manipulable by a single robotic arm with a generic parallel gripper. Complementary to existing research on developing grippers and control algorithms, we present Roman, a suite of hardware design and software tool support for robotic engineers to create 3D printable mechanisms attached to everyday handheld objects, making them easier to be manipulated by conventional robotic arms. The Roman hardware comes with a versatile magnetic gripper that can snap on/off handheld objects and drive add-on mechanisms to perform tasks. Roman also provides software support to register and author control programs. To validate our approach, we designed and fabricated Roman mechanisms for 14 everyday objects/tasks presented within a design space and conducted expert interviews with robotic engineers indicating that Roman serves as a practical alternative for enabling robotic manipulation of everyday objects.
