一种用于单手装配与操作的可重构双对立架构
A Reconfigurable Dual-Opposition Architecture for Single-Hand Assembly and Manipulation
浏览论文内容
中文总结 AI 辅助
提出一种可重构双对立手部架构，通过四个手指和可重构手掌实现单手装配与操作，在仿真和硬件上显著优于LEAP Hand。
中文摘要 AI 辅助
手内装配受限于需要在单只手中保持对两个独立部件的抓取，同时控制它们之间的相对运动。为了实现手内装配与操作，我们提出了一种可重构的双对立架构。具体而言，为了支持同时抓取两个部件并进行协调的手内操作，四个独立驱动的手指被组织成两个虚拟手指（VF）对立，其相对构型由可重构手掌控制。为了描述手部运动及同时双物体抓取构型，我们建立了手指和手掌的运动学模型，以及基于物体尺寸条件的工作空间公式。为了进一步评估运动性能和装配能力，我们表征了手指关节运动和手掌跟踪，并通过涉及抓取、对齐、紧固和按压的任务演示了手内装配。消融实验进一步证明了手指外展/内收和手掌重构对于成功进行手内装配的重要性。在仿真中，所提出的手在直径40-230毫米的球体上实现了平均连续旋转成功率为98.6%，而LEAP Hand为73.8%。在带有外部扰动的策略微调后，所提出的手在多个方向的扰动下实现了92.8%的成功率，而LEAP Hand为45.2%。硬件演示进一步展示了使用仿真训练的策略对手中不同尺寸物体的旋转。综合这些结果表明，所提出的架构支持两个独立持有部件的装配以及单只手中单个物体的协调操作。
英文摘要
In-hand assembly is constrained by the need to maintain grasps on two separate parts while controlling their relative motion within a single hand. To enable both in-hand assembly and manipulation, we present a reconfigurable dual-opposition architecture. Specifically, to support simultaneous grasping of two parts and coordinated in-hand manipulation, four independently actuated fingers are organized into two virtual finger (VF) oppositions, with their relative configuration controlled by a reconfigurable palm. To describe hand motion and simultaneous two-object grasping configurations, a kinematic model of the fingers and palm and an object-size-conditioned workspace formulation are built. To further evaluate motion performance and assembly capability, finger-joint motion and palm tracking are characterized, and in-hand assembly is demonstrated through tasks involving grasping, alignment, fastening, and pressing. Ablation experiments further demonstrate the importance of finger abduction/adduction and palm reconfiguration for successful in-hand assembly. In simulation, the proposed hand achieves a mean continuous sphere rotation success rate of 98.6% over diameters of 40-230 mm, compared with 73.8% for the LEAP Hand. After policy fine-tuning with external disturbances, the proposed hand achieves 92.8% success under disturbances from multiple directions, compared with 45.2% for the LEAP Hand. Hardware demonstrations further show in-hand rotation of objects of different sizes using policies trained in simulation. Together, these results show that the proposed architecture supports both assembly of two separately held parts and coordinated manipulation of a single object within one hand.
发表机构
- University of California, Berkeley（加州大学伯克利分校）
- National University of Singapore（新加坡国立大学）
机构由 AI 辅助整理，请以论文原文为准。
