Robotic Co-Design: Graph Grammar & MCTS in the Rostok Framework
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III. Generation of Tendon Driven Grippers
II. METHODS
In our approach the GD of dynamic systems can be decoupled into three sub-tasks: (1) generation of the mechanism morphology, (2) optimisation of its kinematic and dynamics parameters, and (3*) optimisation of control efforts*. Within this paper, the main focus is on the morphology of an underactuated tendon-driven griper, i.e. how many links and how they are jointed to form a mechanism, such that the gripper can grasp objects blindly without object-shape-based trajectory planning or behavior cloning. The only information regarding an object to be grasped is the position of its geometrical center expressed in gripper’s palm frame.
A. Graph grammar
Our approach requires a suitable way to represent different structures and to use search algorithms. For the “rostok” we chose to encode...
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