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兵工学报 ›› 2023, Vol. 44 ›› Issue (11): 3237-3252.doi: 10.12382/bgxb.2023.0859

所属专题: 群体协同与自主技术

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仿人灵巧手的稳定抓取方法研究综述

李泳耀1,2,3, 江磊1,2,3,*(), 刘宇飞1,2,3, 孙泽源1,2,3, 郑冬冬2,3,4   

  1. 1 中国北方车辆研究所 无人中心, 北京 100072
    2 中兵智能创新研究院有限公司, 北京 100072
    3 群体协同与自主实验室, 北京 100072
    4 北京理工大学 自动化学院, 北京 100081
  • 收稿日期:2023-09-04 上线日期:2023-11-15
  • 通讯作者:
  • 基金资助:
    中国博士后科学基金项目(2023M733284); 国家自然科学基金项目(52205035)

A Review of Stable Grasping Methods for Humanoid Dexterous Hands

LI Yongyao1,2,3, JIANG Lei1,2,3,*(), LIU Yufei1,2,3, SUN Zeyuan1,2,3, ZHENG Dongdong2,3,4   

  1. 1 Unmanned Vehicle Research Center, China North Vehicle Research Institute, Beijing 100072, China
    2 China North Artificial Intelligence & Innovation Research Institute, Beijing 100072, China
    3 Collective Intelligence & Collaboration Laboratory, Beijing 100072, China
    4 School of Automation, Beijing Institute of Technology, Beijing 100081, China
  • Received:2023-09-04 Online:2023-11-15

摘要:

作为引领新一轮科技革命和产业变革的重要抓手,人形机器人通过集成具有类人抓取能力的仿人灵巧手,有望在工业生产、家庭服务、反恐排爆等不同应用场景中辅助或代替人类进行精细、复杂的作业。针对不同应用场景下的仿人灵巧手稳定抓取方法研究展开综述,梳理不同结构仿人灵巧手稳定抓取构型的实现形式,总结仿人灵巧手基于外部传感/本体传感的接触状态分析与估计方法,归纳仿人灵巧手在与物体发生全局相对运动/局部相对运动下的抓取状态检测与识别方法,给出常用的仿人灵巧手稳定抓取控制策略。分析仿人灵巧手在接触、抓取过程中上述方法的应用优势及不足,讨论软体材料、动态场景等因素影响下仿人灵巧手稳定抓取方法研究面临的挑战,并展望了其研究趋势及在人形机器人上的应用。

关键词: 仿人灵巧手, 稳定抓取构型, 接触状态估计, 抓取状态识别, 抓取控制策略

Abstract:

As a significant tool to lead a new round of technological revolution and industrial transformation, the humanoid robots equipped with humanoid dexterous hands having the capability of human-like grasping are expected to assist or even replace humans in performing delicate and complex tasks in various application scenarios, such as industrial production, household services and counter-terrorism. The stable grasping methods for humanoid dexterous hands in different application scenarios are comprehensively reviewed in this paper. The implementation forms of stable grasping configurations for humanoid dexterous hands with different structures are outlined, the methods for analyzing and estimating the contact states based on exteroceptive sensing / proprioceptive sensing for humanoid dexterous hands are summarized, and the techniques for detecting and recognizing the grasping states of humanoid dexterous hands when engaging with objects in global relative motion / local relative motion are categorized. And then the commonly used control strategies are presented for stable grasping with humanoid dexterous hands. The strengths and limitations of the aforementioned methods in the application of humanoid dexterous hands during contact and grasping processes are We analyzed, the challenges in the research of stable grasping methods posed by factors such as soft materials, dynamic environments are discussed, and an outlook on research trends and their applications in humanoid robots is provided.

Key words: humanoid dexterous hand, stable grasping configuration, contact state estimation, grasping state recognition, grasping control strategy

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