GraspSense: 为灵活机械手提供基于语言引导感知和力图的抓取与握力规划
GraspSense: Physically Grounded Grasp and Grip Planning for a Dexterous Robotic Hand via Language-Guided Perception and Force Maps
AI总结：
本文提出一种基于力图的抓取与握力规划方法，通过物理建模和力图分析，使机械手能选择结构更坚固的接触区域并保持安全的抓取力。
摘要：
灵活的机械操作需要比几何上有效的抓取更多的内容：它要求物理上扎根的接触策略，能够考虑到物体空间非均匀的机械特性。然而，现有的抓取规划器通常将表面视为结构上均质的，尽管在弱区域的接触即使在几何上完美的抓取也可能损坏物体。我们提出了一种基于局部可接受接触载荷图的抓取选择和力调节管道，用于五指机械手。从操作员命令开始，系统识别目标物体，使用SAM3D重建其3D几何，并将模型导入Isaac Sim。随后，一个受物理影响的几何分析计算了一个力图，该力图编码了每个表面位置在不发生变形的情况下可接受的最大侧向接触力。抓取候选者通过几何有效性和任务目标一致性进行过滤。当多个候选者在经典指标下相当时，它们通过一个力图意识的准则重新排序，优先选择接触在机械可接受区域的抓取。一个阻抗控制器根据接触点处的局部可接受力调整每个手指的刚度，从而实现安全可靠的抓取执行。在纸张、塑料和玻璃杯上的验证表明，所提出的方法一致地选择了结构更强的接触区域，并保持了抓取力在安全范围内。通过这种方式，这项工作将灵活的操作从纯粹的几何问题重新定义为未来人形系统中抓取选择和握力执行的物理扎根的联合规划问题。
英文摘要：
Dexterous robotic manipulation requires more than geometrically valid grasps: it demands physically grounded contact strategies that account for the spatially non-uniform mechanical properties of the object. However, existing grasp planners typically treat the surface as structurally homogeneous, even though contact in a weak region can damage the object despite a geometrically perfect grasp. We present a pipeline for grasp selection and force regulation in a five-fingered robotic hand, based on a map of locally admissible contact loads. From an operator command, the system identifies the target object, reconstructs its 3D geometry using SAM3D, and imports the model into Isaac Sim. A physics-informed geometric analysis then computes a force map that encodes the maximum lateral contact force admissible at each surface location without deformation. Grasp candidates are filtered by geometric validity and task-goal consistency. When multiple candidates are comparable under classical metrics, they are re-ranked using a force-map-aware criterion that favors grasps with contacts in mechanically admissible regions. An impedance controller scales the stiffness of each finger according to the locally admissible force at the contact point, enabling safe and reliable grasp execution. Validation on paper, plastic, and glass cups shows that the proposed approach consistently selects structurally stronger contact regions and keeps grip forces within safe bounds. In this way, the work reframes dexterous manipulation from a purely geometric problem into a physically grounded joint planning problem of grasp selection and grip execution for future humanoid systems.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
