灵巧线缆操作：分类体系、多指手设计与长时程操作
Dexterous Cable Manipulation: Taxonomy, Multi-Fingered Hand Design, and Long-Horizon Manipulation
- University of Edinburgh（爱丁堡大学）
- EPFL（洛桑联邦理工学院）
- University of York（约克大学）
机构由 AI 辅助整理，请以论文原文为准。
AI总结：
本文针对灵巧线缆操作缺乏系统定义与合适硬件的问题，提出了线缆操作任务分类体系，并设计了一种25自由度、具有对称拇指-食指配置和可旋转指尖关节的五指手，同时开发了相应的演示采集流程，以支持长时程线缆操作任务。
AI中文摘要：
现有针对线缆操作的研究依赖于两指夹爪，这使得其难以执行与人类相似的线缆操作任务。然而，与刚体物体的灵巧操作不同，由于线缆的变形能力和固有不确定性带来的独特挑战，机器人领域对灵巧线缆操作技能的发展仍处于探索不足的状态。此外，使用灵巧手在任务中引入了特定困难，例如线缆抓取、拉动和手中弯曲，而针对这些任务尚无专门的任务定义、基准或评估指标。进一步地，我们观察到大多数现有灵巧手的结构与人类相同，通常仅具有一个拇指，这往往限制了它们在灵巧线缆操作中的有效性。最后，现有的非任务专用方法不具备足够的泛化能力来解决这些线缆操作任务，或者由于所设计的硬件而不适用。我们在真实世界灵巧线缆操作方面有以下三项贡献：（1）我们首先定义并组织了一组灵巧线缆操作任务，形成一个全面的分类体系，覆盖了单手线缆操作的大多数短时程动作原语和长时程任务。该分类体系揭示了拇指与食指之间的协调对于线缆操作至关重要，从而将长时程任务分解为更简单的原语。（2）我们设计了一种新颖的五指手，具有25个自由度（DoF），具备两个对称的拇指-食指配置以及每个指尖上的可旋转关节，从而实现了灵巧线缆操作。（3）我们为这种非拟人手开发了一套演示采集流程，而该手难以通过以往的动作捕捉方法进行操作。
英文摘要：
Existing research that addressed cable manipulation relied on two-fingered grippers, which make it difficult to perform similar cable manipulation tasks that humans perform. However, unlike dexterous manipulation of rigid objects, the development of dexterous cable manipulation skills in robotics remains underexplored due to the unique challenges posed by a cable's deformability and inherent uncertainty. In addition, using a dexterous hand introduces specific difficulties in tasks, such as cable grasping, pulling, and in-hand bending, for which no dedicated task definitions, benchmarks, or evaluation metrics exist. Furthermore, we observed that most existing dexterous hands are designed with structures identical to humans', typically featuring only one thumb, which often limits their effectiveness during dexterous cable manipulation. Lastly, existing non-task-specific methods did not have enough generalization ability to solve these cable manipulation tasks or are unsuitable due to the designed hardware. We have three contributions in real-world dexterous cable manipulation in the following steps: (1) We first defined and organized a set of dexterous cable manipulation tasks into a comprehensive taxonomy, covering most short-horizon action primitives and long-horizon tasks for one-handed cable manipulation. This taxonomy revealed that coordination between the thumb and the index finger is critical for cable manipulation, which decomposes long-horizon tasks into simpler primitives. (2) We designed a novel five-fingered hand with 25 degrees of freedom (DoF), featuring two symmetric thumb-index configurations and a rotatable joint on each fingertip, which enables dexterous cable manipulation. (3) We developed a demonstration collection pipeline for this non-anthropomorphic hand, which is difficult to operate by previous motion capture methods.
