We describe a force-controlled robotic gripper with built-in tactile and 3D perception. We also describe a complete autonomous manipulation pipeline consisting of object detection, segmentation, point cloud processing, force-controlled manipulation, and symbolic (re)-planning. The design emphasizes versatility in terms of applications, manufacturability, use of commercial off-the-shelf parts, and open-source software. We validate the design by characterizing force control (achieving up to 32N, controllable in steps of 0.08N), force measurement, and two manipulation demonstrations: assembly of the Siemens gear assembly problem, and a sensor-based stacking task requiring replanning. These demonstrate robust execution of long sequences of sensor-based manipulation tasks, which makes the resulting platform a solid foundation for researchers in task-and-motion planning, educators, and quick prototyping of household, industrial and warehouse automation tasks.

翻译：本文介绍了一种集成触觉与三维感知的力控型机器人夹爪，并详述了由目标检测、分割、点云处理、力控操作及符号化（重）规划构成的完整自主操控流水线。该设计强调应用通用性、可制造性、商用现成部件使用及开源软件支持。通过力控特性表征（最大负载32N，可控精度0.08N级）、力测量验证及两项操控演示（西门子齿轮装配问题解决与需重规划的传感器堆叠任务），证实了该平台在执行长序列传感操控任务中的鲁棒性，为任务与运动规划研究者、教育工作者及家庭/工业/仓储自动化任务的快速原型开发提供了坚实基础。