外观
论文arXiv 2609.256191 个月前
面向灵巧工具操作的相对接触速度控制手-物体机制
原文链接：Relative Contact Velocity-Controlled Hand-Object Mechanism for Dexterous Tool Manipulation（arXiv 2609.25619 · 发布日期：2026-09-22）
Relative Contact Velocity-Controlled Hand-Object Mechanism for Dexterous Tool Manipulation
该工作将手与工具建模为统一HOM，以相对接触速度进行规划和估计，并在仿真遥操作五种机器人手完成工具操作流程。
核心要点
- 目标是让通用多指机器人手完成工具拾取、调整到合适姿态并使用的全流程。
- 将手、物体和广义接触坐标系组成HOM，用统一笛卡尔相对接触速度描述运动。
- 以手指间相对接触速度和接触力约束定义子装配，并用最小二乘与互补滤波构建框架。
- 仿真遥操作五种机器人手均完成流程，且适应不同手、工具和任务。
验证范围与局限：验证范围为仿真中的五种不同机器人手遥操作工具操作任务。
英文摘要 (Abstract)
This work investigates how to enable general multi-finger robotic hands to perform the complete tool manipulation process, which entails picking up a tool, loading it into a suitable pose, and then wielding it. Inspired by human tool manipulation and mechanical design principles, we model the hand and the tool as a unified hand-object mechanism (HOM) composed of sub-assemblies. Specifically, we define a HOM as consisting of the hand, the object, and the generalized contact frames, allowing the HOM's motions to be expressed with the same set of Cartesian-space relative contact velocities, irrespective of the hand's kinematics and geometry. Then, we define a HOM's sub-assemblies as relative contact velocity and contact force constraints between fingers. Building on these definitions, we developed a lightweight and physically interpretable motion planning and contact estimation framework using least squares and a complementary filter. We evaluated our framework in simulation by teleoperating five different robotic hands. The results show that our framework enabled all five hands to execute the complete tool manipulation process, achieving dexterous behaviors even from identical, simple reference trajectories. Furthermore, the results showcase our framework's adaptability to different hands, tools, and tasks, enabled by its kinematic and geometric foundation. Please visit website for videos: \href{https://sunyuw.github.io/hom-sim/}{https://sunyuw.github.io/hom-sim/}
作者：Sunyu Wang, Jean Oh, Nancy S. Pollard
来源
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