Aero Hand Open：一种适用于灵巧操作学习的可仿真肌腱驱动手
Aero Hand Open: A Simulation-Ready Tendon-Driven Hand for Dexterous Manipulation Learning
- Chestnut Robotics（栗智机器人）
- California Institute of Technology（加州理工学院）
机构由 AI 辅助整理，请以论文原文为准。
AI总结：
本文提出Aero Hand Open这款仿真就绪的肌腱驱动拟人化手，配套仿真模型、驱动映射与强化学习包，可实现策略在仿真中训练后直接部署到实体手，无需微调与状态估计，并发布了相关全套资源。
AI中文摘要：
肌腱驱动手具有拟人化特征，将执行器移至关节外可降低手部制造成本，这种成本节约源于两个效应：通过线缆传递力无需将电机安装在驱动关节内，因此可使用更小、更便宜的电机；且单个电机可通过单根线缆驱动多个关节，减少了电机数量。但肌腱驱动手比直接驱动手更难学习控制，产生成本节约的欠驱动传动结构本身难以在模拟器中建模，且单根线缆驱动的关节无法独立控制。本文提出Aero Hand Open，一款已发布仿真就绪版本的肌腱驱动拟人化手，配套提供三项内容：可复现线缆传动的仿真模型；连接该模型与电机指令的辨识驱动映射（双向映射，包含拇指的三向耦合）；用于训练手部策略的强化学习包。三者结合可实现策略完全在仿真中训练，无需微调且无需状态估计即可在实体手上运行。本文发布了机械设计、仿真模型、辨识映射、训练环境及部署栈。
英文摘要：
Tendon-driven hands are anthropomorphic, and moving the actuators off the joints is what makes a hand of this capability affordable to build. Two effects produce that saving. Routing force through a cable removes the requirement that a motor fit inside the joint it drives, so smaller and cheaper motors suffice, and one motor can drive several joints through a single cable, so fewer motors are needed. They are also harder to learn on than a direct-drive hand. The underactuated transmission that produces the saving is itself difficult to represent in a simulator, and the joints one cable drives are not independently commandable. We present Aero Hand Open, a tendon-driven anthropomorphic hand that is released simulation-ready. Three things ship with it. A simulation model reproduces the cable transmission itself. An identified actuation map connects that model to the motor commands in both directions, including the three-way coupling of the thumb. A reinforcement learning package trains policies for the hand. Together they let a policy be trained entirely in simulation and run on the hand with no fine-tuning and no state estimation. We release the mechanical design, the simulation model, the identified mapping, the training environment and the deployment stack.
