发表机构
Carnegie Mellon University（卡内基梅隆大学）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
本研究提出一种基于相对接触速度控制的手-工具机构框架，使多指机器人手能完成完整工具操作，并通过仿真验证其通用性和适应性。
AI 中文摘要
这项工作研究如何使通用多指机器人手能够执行完整的工具操作过程，包括拾取工具、将其装载到合适的姿态，然后挥动它。受人类工具操作和机械设计原理的启发，我们将手和工具建模为一个由子装配体组成的统一手-工具机构（HOM）。具体来说，我们将HOM定义为由手、物体和广义接触框架组成，使得HOM的运动可以用同一组笛卡尔空间相对接触速度来表达，而与手的运动学和几何无关。然后，我们将HOM的子装配体定义为手指之间的相对接触速度和接触力约束。基于这些定义，我们开发了一个轻量级且物理可解释的运动规划和接触估计框架，使用最小二乘法和互补滤波器。我们在仿真中通过远程操作五个不同的机器人手来评估我们的框架。结果表明，我们的框架使所有五只手都能执行完整的工具操作过程，即使从相同的简单参考轨迹也能实现灵巧行为。此外，结果展示了我们的框架对不同手、工具和任务的适应性，这得益于其运动学和几何基础。
英文摘要
This work investigates how to enable general multi-finger robotic hands to perform the complete tool manipulation process, which entails picking up a tool, loading it into a suitable pose, and then wielding it. Inspired by human tool manipulation and mechanical design principles, we model the hand and the tool as a unified hand-object mechanism (HOM) composed of sub-assemblies. Specifically, we define a HOM as consisting of the hand, the object, and the generalized contact frames, allowing the HOM's motions to be expressed with the same set of Cartesian-space relative contact velocities, irrespective of the hand's kinematics and geometry. Then, we define a HOM's sub-assemblies as relative contact velocity and contact force constraints between fingers. Building on these definitions, we developed a lightweight and physically interpretable motion planning and contact estimation framework using least squares and a complementary filter. We evaluated our framework in simulation by teleoperating five different robotic hands. The results show that our framework enabled all five hands to execute the complete tool manipulation process, achieving dexterous behaviors even from identical, simple reference trajectories. Furthermore, the results showcase our framework's adaptability to different hands, tools, and tasks, enabled by its kinematic and geometric foundation. Please visit website for videos: \href{https://sunyuw.github.io/hom-sim/}{https://sunyuw.github.io/hom-sim/}
