It is a key challenge for soft grasping devices to stably grasp unstructured objects with multi-size and multi-shape. The conventional single-function grippers have some limitations in grasping the above kinds of obje...It is a key challenge for soft grasping devices to stably grasp unstructured objects with multi-size and multi-shape. The conventional single-function grippers have some limitations in grasping the above kinds of objects. This work proposes a modular four-modal soft grasping device(MFSGD), which consists of soft fingers, suction cups, soft wrapper, and other structures. It can perform a variety of grasping modes such as bending grasping mode, wrapping grasping mode, end liftingsucking mode, and side fixed-sucking mode. It may be one of the devices with the most grasping modes at present. Moreover, the device adopts a fully modular design with different structures connected by magnets. It is not only convenient to disassemble or assemble, so as to solve the mutual interference of different modal structures problem during grasping, but also simplifies the fabrication of the multi-modal grasping device. In addition, this work matches the suitable grasping modes for objects of different shapes and sizes, and obtains the relative characteristics of the MFSGD. The proposed device can improve the ability of the grasping robots, and is expected to play an important role in economic and industrial fields.展开更多
This paper investigates the containment problem of continuous-time multi-agent systems with multiplicative noises,where the first-order and second-order multi-agent systems are studied respectively.Based on stochastic...This paper investigates the containment problem of continuous-time multi-agent systems with multiplicative noises,where the first-order and second-order multi-agent systems are studied respectively.Based on stochastic analysis tools,algebraic graph theory,and Lyapunov function method,the containment protocols based the relative states measurement with multiplicative noises are developed to guarantee the mean square and almost sure containment.Moreover,the sufficient conditions and necessary conditions related to the control gains are derived for achieving mean square and almost sure containment.It is also shown that multiplicative noises may works positively for the almost sure containment of the first-order multi-agent systems.Simulation examples are also introduced to illustrate the effectiveness of the theoretical results.展开更多
基金supported by the National Natural Science Foundation of China (Grant No. 62073305)the Fundamental Research Funds for the Central Universities,China University of Geosciences (Wuhan) (Grant Nos. CUG170610 and CUGGC02)。
文摘It is a key challenge for soft grasping devices to stably grasp unstructured objects with multi-size and multi-shape. The conventional single-function grippers have some limitations in grasping the above kinds of objects. This work proposes a modular four-modal soft grasping device(MFSGD), which consists of soft fingers, suction cups, soft wrapper, and other structures. It can perform a variety of grasping modes such as bending grasping mode, wrapping grasping mode, end liftingsucking mode, and side fixed-sucking mode. It may be one of the devices with the most grasping modes at present. Moreover, the device adopts a fully modular design with different structures connected by magnets. It is not only convenient to disassemble or assemble, so as to solve the mutual interference of different modal structures problem during grasping, but also simplifies the fabrication of the multi-modal grasping device. In addition, this work matches the suitable grasping modes for objects of different shapes and sizes, and obtains the relative characteristics of the MFSGD. The proposed device can improve the ability of the grasping robots, and is expected to play an important role in economic and industrial fields.
基金supported by the National Natural Science Foundation of China under Grant Nos.61703378,62073305the Fundamental Research Funds for the Central Universities,China University of Geosciences(Wuhan)。
文摘This paper investigates the containment problem of continuous-time multi-agent systems with multiplicative noises,where the first-order and second-order multi-agent systems are studied respectively.Based on stochastic analysis tools,algebraic graph theory,and Lyapunov function method,the containment protocols based the relative states measurement with multiplicative noises are developed to guarantee the mean square and almost sure containment.Moreover,the sufficient conditions and necessary conditions related to the control gains are derived for achieving mean square and almost sure containment.It is also shown that multiplicative noises may works positively for the almost sure containment of the first-order multi-agent systems.Simulation examples are also introduced to illustrate the effectiveness of the theoretical results.
