# 用于单手装配与操作的可重构双对向架构

> 原文链接：https://robotics.hellobike.com/papers/2026-09-19-2609-22871
> 频道：papers | 更新日期：2026-09-19 | 标签：arxiv, cs.RO
> 核心摘要：提出可重构双对向手部架构，通过两组虚拟指对向与可重构掌部，在仿真和硬件中验证单手装配与操作。

# 用于单手装配与操作的可重构双对向架构

::: v-pre
> 原文链接：[A Reconfigurable Dual-Opposition Architecture for Single-Hand Assembly and Manipulation](https://arxiv.org/abs/2609.22871)（arXiv 2609.22871 · 发布日期：2026-09-19）

**A Reconfigurable Dual-Opposition Architecture for Single-Hand Assembly and Manipulation**

提出可重构双对向手部架构，通过两组虚拟指对向与可重构掌部，在仿真和硬件中验证单手装配与操作。

## 核心要点

- 动机在于单手装配需同时抓持两个独立部件，并在单手内控制其相对运动。
- 方法将四个独立驱动手指组成两组虚拟指对向，并由可重构掌部控制相对配置。
- 建立手指和掌部运动学模型，以及按物体尺寸条件化的工作空间表述来描述手部运动与双物体抓持。
- 实验展示抓取、对准、紧固、按压等装配；仿真旋转成功率高于LEAP Hand，硬件展示不同尺寸物体手内旋转。

**验证范围与局限**：验证覆盖仿真中的40-230 mm球体连续旋转和多方向扰动，以及硬件中的装配演示与不同尺寸物体手内旋转。

## 英文摘要 (Abstract)

In-hand assembly is constrained by the need to maintain grasps on two separate parts while controlling their relative motion within a single hand. To enable both in-hand assembly and manipulation, we present a reconfigurable dual-opposition architecture. Specifically, to support simultaneous grasping of two parts and coordinated in-hand manipulation, four independently actuated fingers are organized into two virtual finger (VF) oppositions, with their relative configuration controlled by a reconfigurable palm. To describe hand motion and simultaneous two-object grasping configurations, a kinematic model of the fingers and palm and an object-size-conditioned workspace formulation are built. To further evaluate motion performance and assembly capability, finger-joint motion and palm tracking are characterized, and in-hand assembly is demonstrated through tasks involving grasping, alignment, fastening, and pressing. Ablation experiments further demonstrate the importance of finger abduction/adduction and palm reconfiguration for successful in-hand assembly. In simulation, the proposed hand achieves a mean continuous sphere rotation success rate of 98.6% over diameters of 40-230 mm, compared with 73.8% for the LEAP Hand. After policy fine-tuning with external disturbances, the proposed hand achieves 92.8% success under disturbances from multiple directions, compared with 45.2% for the LEAP Hand. Hardware demonstrations further show in-hand rotation of objects of different sizes using policies trained in simulation. Together, these results show that the proposed architecture supports both assembly of two separately held parts and coordinated manipulation of a single object within one hand.

作者：William Su, Yunosuke Nakamura, Yixiao Wang, Yitong Li, Mingrui Yu, Huanan Qi, Boyuan Liang, Masayoshi Tomizuka, Jianshu Zhou
:::

## 原始参考来源 (Sources)

- [arXiv 2609.22871：A Reconfigurable Dual-Opposition Architecture for Single-Hand Assembly and Manipulation](https://arxiv.org/abs/2609.22871)