外观
论文arXiv 2609.300821 个月前
全手灵巧抓取的实时力调节
原文链接：Real-Time Force Regulation for Whole-Hand Dexterous Grasping（arXiv 2609.30082 · 发布日期：2026-09-24）
Real-Time Force Regulation for Whole-Hand Dexterous Grasping
提出基于跟踪物体模型和本体感知的实时全手接触力调节，并在无重力仿真和27自由度臂手系统上验证。
核心要点
- 预计算力分配在物体运动、建模误差或外部扰动下容易失效。
- 方法用跟踪物体模型和本体感知估计全手各连杆接触，无需触觉感知。
- 控制器反复在摩擦、执行器限制和驱动一致性约束下重算期望接触力。
- 无重力仿真显示抓取保持优于固定分配和仅指尖执行，真机展示保持与恢复。
验证范围与局限：验证包括无重力仿真中的受控扰动，以及27自由度臂手系统上人施加扰动下的全手接触演化。
英文摘要 (Abstract)
Robust dexterous grasping requires maintaining physical stability despite contacts interactively evolving across the entire hand. A precomputed force distribution can easily fail under object motion, modeling errors, or external disturbances. In this paper, we present a framework for real-time force regulation over dynamically changing whole-hand contacts. Our method geometrically estimates contacts across all hand links using a tracked object model and proprioception, without requiring tactile sensing at those contacts. It repeatedly recomputes the desired contact-force distribution subject to friction constraints, actuator limits, and an actuation-consistency constraint motivated by classical whole-limb force analysis. We integrate this force-regulation controller with reactive reaching, enabling the hand to acquire a grasp, maintain it under disturbances, and regrasp after losing the object. Simulation experiments without gravity demonstrate improved grasp retention over fixed-allocation and fingertip-only execution under controlled perturbations, while real-world experiments on a 27-DoF arm-hand system demonstrate grasp maintenance and recovery under human-applied disturbances as contacts evolve across the whole hand. Project page: https://sangminkim-99.github.io/reactive-grasp-whole-hand/
作者：Sang Min Kim, Alexander Alexiev, Tzu-Yuan Lin, Sangbae Kim, Young Min Kim, Yonghyeon Lee
来源
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