A Review of Stable Grasping Methods for Humanoid Dexterous Hands

doi:10.12382/bgxb.2023.0859

Abstract

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

CLC Number:

TP241.2

LI Yongyao, JIANG Lei, LIU Yufei, SUN Zeyuan, ZHENG Dongdong. A Review of Stable Grasping Methods for Humanoid Dexterous Hands[J]. Acta Armamentarii, 2023, 44(11): 3237-3252.

Figures/Tables 12

Fig.1 Implementation of stable grasping configurations for rigid robotic hands

Fig.2 Implementation of stable grasping configurations for soft robotic hands

Fig.3 Different tactile sensors and their applications

Fig.4 Contact geometry information estimation based on tactile sensors

Fig.5 Contact force/torque estimation based on tactile sensors

Fig.6 Contact judgment of humanoid hands based on proprioceptive sensing

Fig.7 Contact force/torque estimation of humanoid hands based on proprioceptive sensing

Fig.8 Contact position estimation of humanoid hands based on proprioceptive sensing

Fig.9 Grasping state detection and recognition in global relative motion scenarios

Fig.10 Grasping state detection and recognition in local relative motion scenarios

Fig.11 Stable grasping control strategies for humanoid dexterous hands

Fig.12 Applications of humanoid robots with integrated humanoid dexterous hands

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