Any-ttach: Quick End-effector Swapping Enables Manipulation Dexterity with Simplicity
Overview
This research presents Any-ttach, a tool-centric manipulation system that leverages mechanical modularity to enable autonomous end-effector swapping. The system supports 15 heterogeneous modules ranging from robotic fingers to articulated tools like scissors through a unified object-centric framework. Experiments demonstrate reliable autonomous swapping, automatic integration of new tools, and broad manipulation capabilities across different skill sources, including multi-tool long-horizon tasks.
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Control: reported autonomous
“olicy learning; and 3) hierarchical planning and execution system for tools and skills for multi-tool long-horizon tasks. We demonstrated 15 heterogeneous end-effector modules supported by our system, spanning different robotic fingers, everyday tools (including articulated tools such as scissors), and unconventional end-effectors through the same interface. Experiments demonstrate reliable autonomous swapping, autom”
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Reported quantity · tool-skill steps: 7 other · reported trials
“atic integration to new tools, and broad manipulation capability across different skill sources. Two multi-tool application demonstrations, comprising seven tool--skill steps across two tasks, further illustrate the autonomous composition of end-effector exchange and heterogeneous manipulation skills. These results show that end-effector swapping can expand manipulation capability without concentrating increasing com”
Exact source · revision 1Source owner not reported
Reported quantity · tasks: 2 other · reported trials
“atic integration to new tools, and broad manipulation capability across different skill sources. Two multi-tool application demonstrations, comprising seven tool--skill steps across two tasks, further illustrate the autonomous composition of end-effector exchange and heterogeneous manipulation skills. These results show that end-effector swapping can expand manipulation capability without concentrating increasing com”
Exact source · revision 1Source owner not reported
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- arXiv Robotics — research abstractsSignalAny-ttach: Quick End-effector Swapping Enables Manipulation Dexterity with Simplicity
This research presents Any-ttach, a tool-centric manipulation system that leverages mechanical modularity to enable autonomous end-effector swapping. The system supports 15 heterogeneous modules ranging from robotic fingers to articulated tools like scissors through a unified object-centric framework. Experiments demonstrate reliable autonomous swapping, automatic integration of new tools, and broad manipulation capabilities across different skill sources, including multi-tool long-horizon tasks.
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