NEGRELLO F , STUART H S , CATALANO M G . Hands in the real world [J ] . Frontiers in Robotics and AI , 2020 , 6 : 147 . DOI: 10.3389/frobt.2019.00147 http://doi.org/10.3389/frobt.2019.00147 https://www.frontiersin.org/article/10.3389/frobt.2019.00147/full https://www.frontiersin.org/article/10.3389/frobt.2019.00147/full

BILLARD A , KRAGIC D . Trends and challenges in robot manipulation [J ] . Science , 2019 , 364 ( 6446 ): eaat8414 . DOI: 10.1126/science.aat8414 http://doi.org/10.1126/science.aat8414 https://www.science.org/doi/10.1126/science.aat8414 https://www.science.org/doi/10.1126/science.aat8414 Our ability to grab, hold, and manipulate objects involves our dexterous hands, our sense of touch, and feedback from our eyes and muscles that allows us to maintain a controlled grip. Billard and Kragic review the progress made in robotics to emulate these functions. Systems have developed from simple, pinching grippers operating in a fully defined environment, to robots that can identify, select, and manipulate objects from a random collection. Further developments are emerging from advances in computer vision, computer processing capabilities, and tactile materials that give feedback to the robot.

王田苗 , 郝雨飞 , 杨兴帮 , 等 . 软体机器人:结构、驱动、传感与控制 [J ] . 机械工程学报 , 2017 , 53 ( 13 ): 1 - 13 . DOI: 10.3901/JME.2017.13.001 http://doi.org/10.3901/JME.2017.13.001 软体机器人由软材料加工而成，自身可连续变形，与刚性机器人相比具有更高的柔顺性、安全性和适应性，在人机交互、复杂易碎品抓持和狭小空间作业等方面具有不可比拟的优势。综述软体机器人的发展历程，将软体机器人归为传统绳索驱动/气动肌肉机器人、超弹性材料软体机器人和智能材料软体机器人三大类。从仿生结构和仿生运动、驱动与加工、传感与控制三个方面对软体机器人的相关科学问题以及存在的技术难点进行总结与分析。分析了软体机器人在仿生结构、抓持作业和医疗康复等领域潜在的应用价值。对软体机器人目前的发展现状和存在的关键科学难点进行了系统的总结，并得出刚柔耦合、可变刚度和驱动传感控制一体化等研究方向可能是未来软体机器人研究新的突破点。

WANG T M , HAO Y F , YANG X B , et al . Soft robotics: structure, actuation, sensing and control [J ] . Journal of Mechanical Engineering , 2017 , 53 ( 13 ): 1 - 13 . (in Chinese)

蔡世波 , 陶志成 , 万伟伟 , 等 . 机器人多指灵巧手的研究现状、趋势与挑战 [J ] . 机械工程学报 , 2021 , 57 ( 15 ): 1 - 14 . DOI: 10.3901/JME.2021.15.001 http://doi.org/10.3901/JME.2021.15.001 机器人多指灵巧手是一种高度灵活、复杂的末端执行器，因其能够模仿人手的各种灵巧抓持和复杂操作能力，半个多世纪以来得到持续的研发投入和广泛关注，备受社会各界期待。综述分析了仿人型机器人多指灵巧手的演化过程、研究与开发现状。从仿生结构、驱动、传动、感知、复合/智能材料、建模与控制等方面分析了机器人多指灵巧手的本体复杂性，在部分功能复现、灵巧操作功能复现和人手功能的增强三个层次上分析了机器人多指灵巧手的应用复杂性，进而论述了基于多指灵巧手的复杂应用简化实现模式，阐明了机器人多指灵巧手的复杂性与易用性的辩证关系。最后从深度仿生、柔性感知技术、操作过程规划与控制策略、成本控制四个方面分析了多指灵巧手本体研究的趋势与挑战。

CAI S B , TAO Z C , WAN W W , et al . Multi-fingered dexterous hands: from simplicity to complexity and simplifying complex applications [J ] . Journal of Mechanical Engineering , 2021 , 57 ( 15 ): 1 - 14 . (in Chinese) DOI: 10.3901/JME.2021.15.001 http://doi.org/10.3901/JME.2021.15.001 A multi-fingered dexterous hand is a highly flexible and complex end-effector for robots. Since it can imitate various dexterous grasping and complex manipulation abilities of human hand, multi-fingered dexterous hand has been continuously studied and developed for more than half a century and has attracted extensive attention and received wide expectation from the public. In this paper, the research and development of humanoid multi-fingered dexterous hands are reviewed and analyzed. The complexity of multi-fingered dexterous hand is analyzed from aspects of bionic structures, actuation systems, transmission, sensing, composite/smart materials, and modeling and control. The complexity of multi-fingered dexterous hand is discussed from an applicational viewpoint in three levels:Partial function repetition, agile manipulation imitation, and function enhancement of human ability. Simplified realization of the complex application based on multi-fingered dexterous hand is also discussed. The dialectical relationship between the complexity of multi-fingered dexterous hand and the simplicity of application is illustrated. Finally, the trend and challenges of the multi-fingered dexterous hand research are analyzed concerning bionics, flexible sensing technology, manipulation planning, control strategy, and reducing cost.

SHINTAKE J , CACUCCIOLO V , FLOREANO D , et al . Soft robotic grippers [J ] . Advanced Materials , 2018 , e1707035 . DOI: 10.1002/adma.201707035 https://dx.doi.org/10.1002/adma.201707035 .

ARTHUR P S . A review of anthropomorphic robotic hand technology and data glove based control [D ] . VA, US : Virginia Polytechnic Institute and State University , 2016 .

REBOLLO D R R , PONCE P , MOLINA A . From 3 fingers to 5 fingers dexterous hands [J ] . Advanced Robotics , 2017 , 31 ( 2 ): 1 - 20 . DOI: 10.1080/01691864.2016.1266119 http://doi.org/10.1080/01691864.2016.1266119 https://www.tandfonline.com/doi/full/10.1080/01691864.2016.1266119 https://www.tandfonline.com/doi/full/10.1080/01691864.2016.1266119

HUGHES J , CULHA U , GIARDINA F , et al . Soft manipulators and grippers: a review [J ] . Frontiers in Robotics and AI , 2016 , 3 : 69 .

张进华 , 王韬 , 洪军 , 等 . 软体机械手研究综述 [J ] . 机械工程学报 , 2017 , 53 ( 13 ): 19 - 28 . DOI: 10.3901/JME.2017.13.019 http://doi.org/10.3901/JME.2017.13.019 软体机械手(下面简称软体手)是一种由柔性材料制成的新型机械装置。凭借柔性材料天然的柔顺性和适应性，软体机械手具有了高灵活性、复杂环境适应性和安全人机交互性等特点，受到国内外学者和机构的广泛研究，并表现出良好的应用前景。综述了软体机械手的应用领域、驱动方式、材料与制造、建模与控制的相关问题，并梳理了软体机械手研究中依旧存在的问题和可能的解决方案以及软体机械手的发展趋势。软体机械手是软体机器人领域的一个重要分支，其研究涉及材料学、力学、化学、机械设计与制造、电子与控制科学以及仿生学等诸多领域的交叉和融合。对软体机械手的研究将极大丰富人们对柔性材料的复杂、丰富特性的理解，也将为更好地把柔性材料融入产品的设计提供理论和技术指导。

ZHANG J H , WANG T , HONG J , et al . Review of Soft-bodied Manipulator [J ] . Journal of Mechanical Engineering , 2017 , 53 ( 13 ): 19 - 28 . (in Chinese) DOI: 10.3901/JME.2017.13.019 http://doi.org/10.3901/JME.2017.13.019 Soft-bodied manipulators are new type of mechanical devices mainly made of soft materials, which possess the characteristics of high flexibility, good adaptation in complex environment and safe human-machine interaction because of the flexibility and passive adaptability of soft materials. The soft-bodied manipulators have been intensively studied and shown great potential applications. The review of existing soft-bodied manipulators in terms of applications, actuation methods, materials and fabrication, modeling and control is presented. The current issues and possible solutions are also discussed. Soft-bodied manipulators are an important branch of soft robotics, which involves a combination of material science, mechanics, chemistry, mechanical design and manufacture, electronic and control science and biology. The study of soft-bodied manipulators will greatly enrich people’s understanding of the complex and rich characteristics of soft materials, and will provide theoretical and technical guidance for integrating soft materials into design of products.

JIANG L , LIU Y , YANG D P , et al . A synthetic framework for evaluating and designing an anthropomorphic prosthetichand [J ] . Journal of Bionic Engineering , 2018 , 15 ( 1 ): 69 - 82 . DOI: 10.1007/s42235-017-0005-5 http://doi.org/10.1007/s42235-017-0005-5

Shadow Robot . https://www.shadowrobot.com https://www.shadowrobot.com https://www.shadowrobot.com[EB/OL ] . 2023 -11-14.

KIM U , JUNG D , JEONG H , et al . Integrated linkage-driven dexterous anthropomorphic robotic hand [J ] . Nature Communications , 2021 , 12 ( 1 ): 1 - 13 . DOI: 10.1038/s41467-020-20314-w http://doi.org/10.1038/s41467-020-20314-w The ice arches that usually develop at the northern and southern ends of Nares Strait play an important role in modulating the export of Arctic Ocean multi-year sea ice. The Arctic Ocean is evolving towards an ice pack that is younger, thinner, and more mobile and the fate of its multi-year ice is becoming of increasing interest. Here, we use sea ice motion retrievals from Sentinel-1 imagery to report on the recent behavior of these ice arches and the associated ice fluxes. We show that the duration of arch formation has decreased over the past 20 years, while the ice area and volume fluxes along Nares Strait have both increased. These results suggest that a transition is underway towards a state where the formation of these arches will become atypical with a concomitant increase in the export of multi-year ice accelerating the transition towards a younger and thinner Arctic ice pack.

戴建生 , 安伟 , 王瑞钦 , 等 . 基于可重构虎克铰链副的仿人变胞手设计与分析 [J ] . 天津大学学报(自然科学与工程技术版) , 2022 , 55 ( 3 ): 221 - 229 .

DAI J S , AN W , WANG R Q , et al . Design and analysis of a humanoid metamorphic hand based on reconfigurable hooke joints [J ] . Journal of Tianjin University(Science and Technology) , 2022 , 55 ( 3 ): 221 - 229 . (in Chinese)

马涛 , 杨冬 , 赵海文 , 等 . 一种新型欠驱动机械手爪的抓取分析和优化设计 [J ] . 机器人 , 2020 , 42 ( 3 ): 354 - 364 . DOI: 10.13973/j.cnki.robot.190412 http://doi.org/10.13973/j.cnki.robot.190412 传统欠驱动机械手的运动和功能单一，难以实现对不同尺寸物体的稳定抓取．为此，提出了一种新型欠驱动手爪结构，并进行抓取分析和优化．首先，介绍了欠驱动机械手爪的整体机构设计，并对手指进行静力学分析，针对手爪包络抓取物体时可能发生弹射的不稳定情况，进行手指结构优化．然后，基于刚度矩阵的势能模型，确定指尖合理的尺寸范围并建立指尖最佳形状．通过几何约束中的数学公式，表达了指尖抓取时手指位姿和物体尺寸的关系．最后，完成手爪样机的搭建，并对常见家用物品进行了指尖抓取和包络抓取实验．实验结果表明，该机械手爪能够对各种尺寸大小的物体进行稳定抓取．

MA T , YANG D , ZHAO H W , et al . Grasp analysis and optimal design of a new underactuated manipulator [J ] . Robot , 2020 , 42 ( 3 ): 354 - 364 . (in Chinese) DOI: 10.13973/j.cnki.robot.190412 http://doi.org/10.13973/j.cnki.robot.190412 Due to the insufficiencies of traditional underactuated manipulator in motion and function, it is difficult to grasp objects of different sizes stably. A new underactuated manipulator structure is proposed, and then the analysis and optimization of grasp are carried out. Firstly, the overall structure design of the underactuated manipulator is introduced, and then the static analysis of the finger is implemented. The structure of the finger is optimized for the instability caused by the ejection when the finger envelopes objects. Then, the reasonable size range of fingertip is determined and the optimal shape of fingertip is established based on the potential energy model of stiffness matrix. The relationship between the manipulator posture and the object sizes is expressed when the fingertips grasp objects by mathematical formula in geometric constraints. Finally, the prototype of the manipulator is built, and the fingertip grasp and envelope grasp of common household goods are carried out, which verifies that the manipulator can grasp objects of various sizes stably.

梁达尧 , 张文增 . 平夹自适应欠驱动手的参数优化与稳定性分析 [J ] . 机器人 , 2017 , 39 ( 3 ): 282 - 291 . DOI: 10.13973/j.cnki.robot.2017.0282 http://doi.org/10.13973/j.cnki.robot.2017.0282 针对欠驱动多模式抓取问题，提出了一种具有平夹自适应复合抓取模式的8自由度机械手（PASA手）．为了研究PASA手的抓取性能，提出了抓取姿态与稳定性分析模型．根据被抓取物体的位置、尺寸和大小的不同，PASA手能够执行平夹（PA）用于精确抓取，自适应包络用于力量型抓取，或者像人手那样既能平夹又能自适应抓取（PASA）．不同抓取模式之间的切换是自动且自适应的．详细讨论了PASA手的运动、抓取力分布和在不同外力下基于势能的抓取稳定性分析．对各种状态下手指接触力进行了测量，并对不同的物体进行了抓取实验．尽管被抓取对象形状、大小各异，PASA手均能牢固抓取．实验结果表明PASA手具有可靠性和广泛适用性．

LIANG D Y , ZHANG W Z . Parameters optimization and stability analysis for a parallel and self-adaptive underactuated hand [J ] . Robot , 2017 , 39 ( 3 ): 282 - 291 . (in Chinese) DOI: 10.13973/j.cnki.robot.2017.0282 http://doi.org/10.13973/j.cnki.robot.2017.0282 An 8 degrees of freedom (DOFs) robotic hand with parallel and self-adaptive (PASA) hybrid grasping modes is proposed to realize hybrid-mode underactuated grasping. Models of grasping postures and stability analysis are proposed to study the grasping performance of the PASA hand. Depending on the location, dimension and size of different objects, the PASA hand executes a parallel pinching (PA) mode for a precise grasp, a self-adaptive (SA) enveloping mode for a powerful grasp, or a PASA mode to imitate a human hand. The switch among different grasping modes is automatic and self-adaptive. Detailedly, the kinematics and the force distribution of the PASA hand are described, and also the grasping stabilities under different external forces are analyzed based on potential energy. Finally, different objects grasping experiments are conducted, while the contact forces are exactly measured in different states. Though the shapes and sizes of the objects are various, PASA hand can grasp tightly. Experimental results verify the reliability and the versatility of the PASA hand.

CHEN W R , XIONG C H , WANG Y N . Analysis and synthesis of underactuated compliant mechanisms based on transmission properties of motion and force [J ] . IEEE Transactions on Robotics , 2020 , 36 ( 3 ): 773 - 788 . DOI: 10.1109/TRO.8860 http://doi.org/10.1109/TRO.8860 https://ieeexplore.ieee.org/xpl/RecentIssue.jsp?punumber=8860 https://ieeexplore.ieee.org/xpl/RecentIssue.jsp?punumber=8860

DEIMEL R , BROCK O . A novel type of compliant and underactuated robotic hand for dexterous grasping [J ] . The International Journal of Robotics Research , 2016 , 35 ( 1/2/3 ): 161 - 185 . DOI: 10.1177/0278364915592961 http://doi.org/10.1177/0278364915592961 http://journals.sagepub.com/doi/10.1177/0278364915592961 http://journals.sagepub.com/doi/10.1177/0278364915592961 The usefulness and versatility of a robotic end-effector depends on the diversity of grasps it can accomplish and also on the complexity of the control methods required to achieve them. We believe that soft hands are able to provide diverse and robust grasping with low control complexity. They possess many mechanical degrees of freedom and are able to implement complex deformations. At the same time, due to the inherent compliance of soft materials, only very few of these mechanical degrees have to be controlled explicitly. Soft hands therefore may combine the best of both worlds. In this paper, we present RBO Hand 2, a highly compliant, underactuated, robust, and dexterous anthropomorphic hand. The hand is inexpensive to manufacture and the morphology can easily be adapted to specific applications. To enable efficient hand design, we derive and evaluate computational models for the mechanical properties of the hand’s basic building blocks, called PneuFlex actuators. The versatility of RBO Hand 2 is evaluated by implementing the comprehensive Feix taxonomy of human grasps. The manipulator’s capabilities and limits are demonstrated using the Kapandji test and grasping experiments with a variety of objects of varying weight. Furthermore, we demonstrate that the effective dimensionality of grasp postures exceeds the dimensionality of the actuation signals, illustrating that complex grasping behavior can be achieved with relatively simple control.

SRT软体机器人 . http://www.softrobottech.com http://www.softrobottech.com http://www.softrobottech.com[EB/OL ] . 2023 -11-14.

SRT soft robot http://www.softrobottech.com http://www.softrobottech.com http://www.softrobottech.com[EB/OL ] . 2023 -11-14.(in Chinese)

文力 , 王贺升 . 软体机器人研究展望: 结构、驱动与控制 [J ] . 机器人 , 2018 , 40 ( 5 ): 577 .  

WEN L , WANG H S . Prospects for soft robotics research: structure, actuation, and control [J ] . Robot , 2018 , 40 ( 5 ): 577 . (in Chinese)

LI C S , GU X Y , XIAO X , et al . Transcend anthropomorphic robotic grasping with modular antagonistic mechanisms and adhesive soft modulations [J ] . IEEE Robotics and Automation Letters , 2019 , 4 ( 3 ): 2463 - 2470 . DOI: 10.1109/LSP.2016. http://doi.org/10.1109/LSP.2016. https://ieeexplore.ieee.org/xpl/RecentIssue.jsp?punumber=7083369 https://ieeexplore.ieee.org/xpl/RecentIssue.jsp?punumber=7083369

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SHIH B , DROTMAN D , CHRISTIANSON C , et al . Custom soft robotic gripper sensor skins for haptic object visualization [C ] // Proceedings of IEEE/RSJ international conference on intelligent robots and systems . Vancouver, Canada : IEEE , 2017 : 494 - 501 .

BICCHI A , SALISBURY J K , BROCK D L . Contact sensing from force measurements [J ] . The International Journal of Robotics Research , 1993 , 12 ( 3 ): 249 - 262 . DOI: 10.1177/027836499301200304 http://doi.org/10.1177/027836499301200304 http://journals.sagepub.com/doi/10.1177/027836499301200304 http://journals.sagepub.com/doi/10.1177/027836499301200304 This article addresses contact sensing (i.e., the problem of re solving the location of a contact, the force at the interface, and the moment about the contact normals). Called \"intrinsic\" contact sensing for the use of internal force and torque mea surements, this method allows for practical devices that provide simple, relevant contact information in practical robotic appli cations. Such sensors have been used in conjunction with robot hands to identify objects, determine surface friction, detect slip, augment grasp stability, measure object mass, probe surfaces, and control collision and for a variety of other useful tasks. This article describes the theoretical basis for their operation and provides a framework for future device design.

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ROMANO J M , HSIAO K , NIEMEYER G , et al . Human-inspired robotic grasp control with tactile sensing [J ] . IEEE Transactions on Robotics , 2011 , 27 ( 6 ): 1067 - 1079 . DOI: 10.1109/TRO.2011.2162271 http://doi.org/10.1109/TRO.2011.2162271 http://ieeexplore.ieee.org/document/5976472/ http://ieeexplore.ieee.org/document/5976472/

CUTKOSKY M R , HYDE J M . Manipulation control with dynamic tactile sensing [C ] // Proceedings of the 6th International Symposium on Robotics Research . Hidden Valley, Pennsylvania : IFRR , 1993 : 143 - 153 .

HEYNEMAN B , CUTKOSKY M R . Slip classification for dynamic tactile array sensors [J ] . The International Journal of Robotics Research , 2016 , 35 ( 4 ): 404 - 421 . DOI: 10.1177/0278364914564703 http://doi.org/10.1177/0278364914564703 http://journals.sagepub.com/doi/10.1177/0278364914564703 http://journals.sagepub.com/doi/10.1177/0278364914564703 The manipulation of objects held in a robotic hand or gripper is accompanied by events such as making and breaking contact and slippage, between the fingertips and the grasped object and between the grasped object and external surfaces. Humans can distinguish among such events, in part, because they excite the various mechanoreceptors in the hands differently. As part of an effort to provide robots with a similar capability, we propose two features that can be extracted from dynamic tactile array data and used to discriminate between hand/object and object/world slips. Both features rely on examining how slippage affects an array of dynamic tactile sensors compared with the way it affects individual elements of the array. In comparison with approaches that require extensive training with particular combinations of objects and skin, the features work for a wide range of frequencies and grasp conditions. The performance and generalizability of the features are verified with testing on three different kinds of sensors and for a range of object textures, grasp forces and slip conditions. Both features demonstrate greater than 85% accuracy in identifying the location of slip.

BACKUS S B , DOLLAR A M . Robust resonant frequency-based contact detection with applications in robotic reaching and grasping [J ] . IEEE/ASME Transactions on Mechatronics , 2013 , 19 ( 5 ): 1552 - 1561 . DOI: 10.1109/TMECH.3516 http://doi.org/10.1109/TMECH.3516 https://ieeexplore.ieee.org/xpl/RecentIssue.jsp?punumber=3516 https://ieeexplore.ieee.org/xpl/RecentIssue.jsp?punumber=3516

HOMBERG B S , KATZSCHMANN R K , DOGAR M R , et al . Robust proprioceptive grasping with a soft robot hand [J ] . Autonomous Robots , 2019 , 43 ( 3 ): 681 - 696 . DOI: 10.1007/s10514-018-9754-1 http://doi.org/10.1007/s10514-018-9754-1 This work presents a soft hand capable of robustly grasping and identifying objects based on internal state measurements along with a combined system which autonomously performs grasps. A highly compliant soft hand allows for intrinsic robustness to grasping uncertainties; the addition of internal sensing allows the configuration of the hand and object to be detected. The finger module includes resistive force sensors on the fingertips for contact detection and resistive bend sensors for measuring the curvature profile of the finger. The curvature sensors can be used to estimate the contact geometry and thus to distinguish between a set of grasped objects. With one data point from each finger, the object grasped by the hand can be identified. A clustering algorithm to find the correspondence for each grasped object is presented for both enveloping grasps and pinch grasps. A closed loop system uses a camera to detect approximate object locations. Compliance in the soft hand handles that uncertainty in addition to geometric uncertainty in the shape of the object.

LIN M A , THOMASSON R , URIBE G , et al . Exploratory hand: Leveraging safe contact to facilitate manipulation in cluttered spaces [J ] . IEEE Robotics and Automation Letters , 2021 , 6 ( 3 ): 5159 - 5166 . DOI: 10.1109/LRA.2021.3068941 http://doi.org/10.1109/LRA.2021.3068941 https://ieeexplore.ieee.org/document/9387160/ https://ieeexplore.ieee.org/document/9387160/

SHAN X , BIRGLEN L . Modeling and analysis of soft robotic fingers using the fin ray effect [J ] . The International Journal of Robotics Research , 2020 , 39 ( 14 ): 1686 - 1705 . DOI: 10.1177/0278364920913926 http://doi.org/10.1177/0278364920913926 http://journals.sagepub.com/doi/10.1177/0278364920913926 http://journals.sagepub.com/doi/10.1177/0278364920913926 Soft grasping of random objects in unstructured environments has been a research topic of predilection both in academia and in industry because of its complexity but great practical relevance. However, accurate modeling of soft hands and fingers has proven a difficult challenge to tackle. Focusing on this issue, this article presents a detailed mathematical modeling and performance analysis of parallel grippers equipped with soft fingers taking advantage of the fin ray effect (FRE). The FRE, based on biomimetic principles, is most commonly found in the design of grasping soft fingers, but despite their popularity, finding a convenient model to assess the grasp capabilities of these fingers is challenging. This article aims at solving this issue by providing an analytic tool to better understand and ultimately design this type of soft fingers. First, a kinetostatic model of a general multi-crossbeam finger is established. This model will allow for a fast yet accurate estimation of the contact forces generated when the fingers grasp an arbitrarily shaped object. The obtained mathematical model will be subsequently validated by numerically to ensure the estimations of the overall grasp strength and individual contact forces are indeed accurate. Physical experiments conducted with 3D-printed fingers of the most common architecture of FRE fingers will also be presented and shown to support the proposed model. Finally, the impact of the relative stiffness between different areas of the fingers will be evaluated to provide insight into further refinement and optimization of these fingers.

SANTINA C D , PIAZZA C , SANTAERA G , et al . Estimating contact forces from postural measures in a class of under-actuated robotic hands [C ] // Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems . Vancouver, Canada : IEEE , 2017 : 2456 - 2463 .

DEL SOL ACERO E , KING R , SCOTT R , et al . External force estimation for teleoperation based on proprioceptive sensors [J ] . International Journal of Advanced Robotic Systems , 2014 , 11 ( 3 ): 52 .DOI: 10.5772/58468 https://dx.doi.org/10.5772/58468 . http://journals.sagepub.com/doi/10.5772/58468 http://journals.sagepub.com/doi/10.5772/58468 This paper establishes an approach to external force estimation for telerobotic control in radioactive environments by the use of an identified manipulator model and pressure sensors, without employing a force/torque sensor. The advantages of - and need for - force feedback have been well-established in the field of telerobotics, where electrical and back-drivable manipulators have traditionally been used. This research proposes a methodology employing hydraulic robots for telerobotics tasks based on a model identification scheme. Comparative results of a force sensor and the proposed approach using a hydraulic telemanipulator are presented under different conditions. This approach not only presents a cost effective solution but also a methodology for force estimation in radioactive environments, where the dose rates limit the use of electronic devices such as sensing equipment.

ZHOU J S , CHEN Y H , CHEN X J , et al . A proprioceptive bellows (PB) actuator with position feedback and force estimation [J ] . IEEE Robotics and Automation Letters , 2020 , 5 ( 2 ): 1867 - 1874 . DOI: 10.1109/LSP.2016. http://doi.org/10.1109/LSP.2016. https://ieeexplore.ieee.org/xpl/RecentIssue.jsp?punumber=7083369 https://ieeexplore.ieee.org/xpl/RecentIssue.jsp?punumber=7083369

KANEKO M , TANIE K . Contact point detection for grasping an unknown object using self-posture changeability [J ] . IEEE Transactions on Robotics and Automation , 1994 , 10 ( 3 ): 355 - 367 . DOI: 10.1109/70.294210 http://doi.org/10.1109/70.294210 http://ieeexplore.ieee.org/document/294210/ http://ieeexplore.ieee.org/document/294210/

BELZILE B , BIRGLEN L . Stiffness analysis of double tendon underactuated fingers [C ] // Proceedings of IEEE International Conference on Robotics & Automation . Hong Kong, China : IEEE , 2014 : 6679 - 6684 .

PASTOR F , GANDARIAS J M , GARCÍA-CEREZO A J , et al . Grasping angle estimation of human forearm with underactuated grippers using proprioceptive feedback [C ] // Proceedings of Iberian Robotics Conference . Porto, Portugal : Springer , 2019 : 441 - 452 .

KARAYIANNIDIS Y , SMITH C , VINA F E , et al . Online contact point estimation for uncalibrated tool use [C ] // Proceedings of IEEE International Conference on Robotics and Automation . Hong Kong, China : IEEE , 2014 : 2488 - 2494 .

PARK M , JEONG B , PARK Y . Hybrid system analysis and control of a soft robotic gripper with embedded proprioceptive sensing for enhanced gripping performance [J ] . Advanced Intelligent Systems , 2021 , 3 ( 3 ): 2000061 . DOI: 10.1002/aisy.v3.3 http://doi.org/10.1002/aisy.v3.3 https://onlinelibrary.wiley.com/toc/26404567/3/3 https://onlinelibrary.wiley.com/toc/26404567/3/3

ABDEETEDAL M , KERMANI M R . Grasp and stress analysis of an underactuated finger for proprioceptive tactile sensing [J ] . IEEE/ASME Transactions on Mechatronics , 2018 , 23 ( 4 ): 1619 - 1629 . DOI: 10.1109/TMECH.3516 http://doi.org/10.1109/TMECH.3516 https://ieeexplore.ieee.org/xpl/RecentIssue.jsp?punumber=3516 https://ieeexplore.ieee.org/xpl/RecentIssue.jsp?punumber=3516

DECKERS P , DOLLAR A M , HOWE R D . Guiding grasping with proprioception and Markov models [C ] // Proceedings of Robotics: Science and Systems Conference . Atlanta, GA, US : MIT Press , 2007 : 1 - 6 .

KORENBLIK J . Minimal sensing approach of an underactuated flexure based gripper for agri-food applications [D ] . Enschede,the Netherlands : University of Twente , 2021 .

ANH HO V , HIRAI S . Modeling and analysis of a frictional sliding soft fingertip, and experimental validations [J ] . Advanced Robotics , 2011 , 25 ( 3/4 ): 291 - 311 . DOI: 10.1163/016918610X552123 http://doi.org/10.1163/016918610X552123 https://www.tandfonline.com/doi/full/10.1163/016918610X552123 https://www.tandfonline.com/doi/full/10.1163/016918610X552123

VAN HO A , WANG Z K , HIRAI S . Beam bundle model of human-like fingertip for investigation of tactile mechanism [C ] // Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems . Tokyo, Japan : IEEE , 2013 : 4491 - 4498 .

JAMES J W , LEPORA N F . Slip detection for grasp stabilization with a multifingered tactile robot hand [J ] . IEEE Transactions on Robotics , 2020 , 37 ( 2 ): 506 - 519 . DOI: 10.1109/TRO.2020.3031245 http://doi.org/10.1109/TRO.2020.3031245 https://ieeexplore.ieee.org/document/9252140/ https://ieeexplore.ieee.org/document/9252140/

CHOI B J , CHOI H R , KANG S C . Development of tactile sensor for detecting contact force and slip [C ] // Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems . Edmonton, Canada : IEEE , 2005 : 2638 - 2643 .

FERNANDEZ R , PAYO I , VAZQUEZ A S , et al . Micro-vibration-based slip detection in tactile force sensors [J ] . Sensors , 2014 , 14 ( 1 ): 709 - 730 . DOI: 10.3390/s140100709 http://doi.org/10.3390/s140100709 Tactile sensing provides critical information, such as force, texture, shape or temperature, in manipulation tasks. In particular, tactile sensors traditionally used in robotics are emphasized in contact force determination for grasping control and object recognition. Nevertheless, slip detection is also crucial to successfully manipulate an object. Several approaches have appeared to detect slipping, the majority being a combination of complex sensors with complex algorithms. In this paper, we deal with simplicity, analyzing how a novel, but simple, algorithm, based on micro-vibration detection, can be used in a simple, but low-cost and durable, force sensor. We also analyze the results of using the same principle to detect slipping in other force sensors based on flexible parts. In particular, we show and compare the slip detection with: (i) a flexible finger, designed by the authors, acting as a force sensor; (ii) the finger torque sensor of a commercial robotic hand; (iii) a commercial six-axis force sensor mounted on the wrist of a robot; and (iv) a fingertip piezoresistive matrix sensor.

VEIGA F , PETERS J , HERMANS T . Grip stabilization of novel objects using slip prediction [J ] . IEEE Transactions on Haptics , 2018 , 11 ( 4 ): 531 - 542 . DOI: 10.1109/TOH.2018.2837744 http://doi.org/10.1109/TOH.2018.2837744 Controlling contact with arbitrary, unknown objects defines a fundamental problem for robotic grasping and in-hand manipulation. In real-world scenarios, where robots interact with a variety of objects, the sheer number of possible contact interactions prohibits acquisition of the necessary models for all objects of interest. As an alternative to traditional control approaches that require accurate models, predicting the onset of slip can enable controlling contact interactions without explicit model knowledge. In this article, we propose a grip stabilization approach for novel objects based on slip prediction. Using tactile information, such as applied pressure and fingertip deformation, our approach predicts the emergence of slip and modulates the contact forces accordingly. We formulate a supervised-learning problem to predict the future occurrence of slip from high-dimensional tactile information provided by a BioTac sensor. This slip mapping generalizes across objects, including objects absent during training. We evaluate how different input features, slip prediction time horizons, and available tactile information channels, impact prediction accuracy. By mounting the sensor on a PA-10 robotic arm, we show that employing prediction in a controller's feedback loop yields an object grip stabilization controller that can successfully stabilize multiple, previously unknown objects by counteracting slip events.

曾博 . 操作感知一体化灵巧假手机构及滑动控制的研究 [D ] . 哈尔滨 : 哈尔滨工业大学 , 2017 .

ZENG B . Research on mechanism and slip prevention control of a dexterous prosthetic hand with capabilities of manipulation and perception [D ] . Harbin : Harbin Institute of Technology , 2017 . (in Chinese)

YANG B , DUAN X G , DENG H . A simple method for slip detection of prosthetic hand [C ] // Proceedings of IEEE International Conference on Information & Automation . Lijiang, China : IEEE , 2015 : 2159 - 2164 .

SANCHEZ J , SCHNEIDER S , HOCHGESCHWENDER N , et al . Context-based adaptation of in-hand slip detection for service robots [J ] . Ifac Papersonline , 2016 , 49 ( 15 ): 266 - 271 .

GUNJI D , ARAKI T , NAMIKI A , et al . Grasping force control of multi-fingered robot hand based on slip detection using tactile sensor [J ] . Journal of the Robotics Society of Japan , 2007 , 25 ( 6 ): 970 - 978 . DOI: 10.7210/jrsj.25.970 http://doi.org/10.7210/jrsj.25.970 http://www.jstage.jst.go.jp/article/jrsj1983/25/6/25_6_970/_article/-char/ja/ http://www.jstage.jst.go.jp/article/jrsj1983/25/6/25_6_970/_article/-char/ja/

GOEGER D , ECKER N , WOERN H . Tactile sensor and algorithm to detect slip in robot grasping processes [C ] // Proceedings of IEEE International Conference on Robotics and Biomimetics . Bangkok, Thailand : IEEE , 2009 : 1480 - 1485 .

STACHOWSKY M , HUMMEL T , MOUSSA M , et al . A slip detection and correction strategy for precision robot grasping [J ] . IEEE/ASME Transactions on Mechatronics , 2016 , 21 ( 5 ): 2214 - 2226 . DOI: 10.1109/TMECH.2016.2551557 http://doi.org/10.1109/TMECH.2016.2551557 http://ieeexplore.ieee.org/document/7448897/ http://ieeexplore.ieee.org/document/7448897/

DAMIAN D D , FISCHER M , HERNANDEZ ARIETA A , et al . The role of quantitative information about slip and grip force in prosthetic grasp stability [J ] . Advanced Robotics , 2018 , 32 ( 1 ): 12 - 24 . DOI: 10.1080/01691864.2017.1396250 http://doi.org/10.1080/01691864.2017.1396250 https://www.tandfonline.com/doi/full/10.1080/01691864.2017.1396250 https://www.tandfonline.com/doi/full/10.1080/01691864.2017.1396250

ISLEK C , OZDEMIR E . Design of a fuzzy safety margin derivation system for grip force control of robotic hand in precision grasp task [J ] . International Journal of Advanced Robotic Systems , 2021 , 18 ( 3 ): 202722631 .

ABD M A , GONZALEZ I J , COLESTOCK T C , et al . Direction of slip detection for adaptive grasp force control with a dexterous robotic hand [C ] // Proceedings of IEEE/ASME International Conference on Advanced Intelligent Mechatronics . Auckland, New Zealand : IEEE , 2018 : 21 - 27 .

MEIER M , PATZELT F , HASCHKE R , et al . Tactile convolutional networks for online slip and rotation detection [C ] // Proceedings of International Conference on Artificial Neural Networks. Barcelona, Spain:Springer , 2016 : 12 - 19 .

VAN WYK K , FALCO J . Calibration and analysis of tactile sensors as slip detectors [C ] // Proceedings of IEEE International Conference on Robotics and Automation . Brisbane, Australia : IEEE , 2018 : 2744 - 2751 .

JAMES J W , CHURCH A , CRAMPHORN L , et al . Tactile Model O: Fabrication and testing of a 3d-printed, three-fingered tactile robot hand [J ] . Soft Robotics , 2021 , 8 ( 5 ): 594 - 610 . DOI: 10.1089/soro.2020.0019 http://doi.org/10.1089/soro.2020.0019 Bringing tactile sensation to robotic hands will allow for more effective grasping, along with a wide range of benefits of human-like touch. Here, we present a three-dimensional-printed, three-fingered tactile robot hand comprising an OpenHand ModelO customized to house a TacTip soft biomimetic tactile sensor in the distal phalanx of each finger. We expect that combining the grasping capabilities of this underactuated hand with sophisticated tactile sensing will result in an effective platform for robot hand research-the Tactile Model O (T-MO). The design uses three JeVois machine vision systems, with each comprising a miniature camera in the tactile fingertip with a processing module in the base of the hand. To evaluate the capabilities of the T-MO, we benchmark its grasping performance by using the Gripper Assessment Benchmark on the Yale-CMU-Berkeley object set. Tactile sensing capabilities are evaluated by performing tactile object classification on 26 objects and predicting whether a grasp will successfully lift each object. Results are consistent with the state of the art, taking advantage of advances in deep learning applied to tactile image outputs. Overall, this work demonstrates that the T-MO is an effective platform for robot hand research and we expect it to open up a range of applications in autonomous object handling.

WAN Q , ADAMS R P , HOWE R D . Variability and predictability in tactile sensing during grasping [C ] // Proceedings of IEEE International Conference on Robotics & Automation . Stockholm, Sweden : IEEE , 2016 : 158 - 164 .

ALCAZAR J A , BARAJAS L G . Estimating object grasp sliding via pressure array sensing [C ] // Proceedings of International Conference on Robotics & Automation . Saint Paul, MN, US : IEEE , 2012 : 1740 - 1746 .

TADA Y , HOSODA K . Acquisition of multi-modal expression of slip through pick-up experiences [J ] . Advanced Robotics , 2007 , 21 ( 5/6 ): 601 - 617 . DOI: 10.1163/156855307780108213 http://doi.org/10.1163/156855307780108213 https://www.tandfonline.com/doi/full/10.1163/156855307780108213 https://www.tandfonline.com/doi/full/10.1163/156855307780108213

SHIRAFUJI S , HOSODA K . Detection and prevention of slip using sensors with different properties embedded in elastic artificial skin on the basis of previous experience [J ] . Robotics and Autonomous Systems , 2014 , 62 ( 1 ): 46 - 52 . DOI: 10.1016/j.robot.2012.07.016 http://doi.org/10.1016/j.robot.2012.07.016 https://linkinghub.elsevier.com/retrieve/pii/S0921889012001200 https://linkinghub.elsevier.com/retrieve/pii/S0921889012001200

MAMUN A , IBRAHIM M Y . New approach to detection of incipient slip using inductive sensory system [C ] // Proceedings of IEEE International Symposium on Industrial Electronics . Bari, Italy : IEEE , 2010 : 1901 - 1906 .

FENG J H , JIANG Q . Slip and roughness detection of robotic fingertip based on FBG [J ] . Sensors and Actuators A: Physical , 2019 , 287 : 143 - 149 . DOI: 10.1016/j.sna.2019.01.018 http://doi.org/10.1016/j.sna.2019.01.018 The function of slip and roughness detection is important for dexterous manipulation robots. In this paper, we designed a slip sensor for robotic fingertip based on FBG (Fiber Bragg Grating). Firstly, the structure was designed and analyzed with simulation of FEA software. It was proved that the structure can detect shear deformation when slip occurred. Then, several experiments of slip and pressure have been carried out. The signal when the kinetic friction just occurred was extracted for incipient slip recognition. Second derivative algorithm was proposed and result showed it can distinguish incipient slip effectively. At last, the slip sensor was slid on different surfaces to obtain stable kinetic friction signal. Surface recognition algorithm was studied based on kNN. According to the signal amplitude caused by vibration, this sensor can distinguish different surfaces. The slip sensor shows the feasibility of slip and roughness detection and has the potential applications in intelligent robotics. (C) 2019 Elsevier B.V.

RIGI A , BAGHAEI NAEINI F , MAKRIS D , et al . A novel event-based incipient slip detection using dynamic active-pixel vision sensor (DAVIS) [J ] . Sensors , 2018 , 18 ( 2 ): 333 . DOI: 10.3390/s18020333 http://doi.org/10.3390/s18020333 http://www.mdpi.com/1424-8220/18/2/333 http://www.mdpi.com/1424-8220/18/2/333

SUI R M , ZHANG L W , LI T M , et al . Incipient slip detection method with vision-based tactile sensor based on distribution force and deformation [J ] . IEEE Sensors Journal , 2021 , 21 ( 22 ): 25973 - 25985 . DOI: 10.1109/JSEN.2021.3119060 http://doi.org/10.1109/JSEN.2021.3119060 https://ieeexplore.ieee.org/document/9565930/ https://ieeexplore.ieee.org/document/9565930/

WILLIAM H , IBRAHIM Y , RICHARDSON B . A tactile sensor for incipient slip detection [J ] . International Journal of Optomechatronics , 2007 , 1 ( 1 ): 46 - 62 . DOI: 10.1080/15599610701232655 http://doi.org/10.1080/15599610701232655 http://www.tandfonline.com/doi/abs/10.1080/15599610701232655 http://www.tandfonline.com/doi/abs/10.1080/15599610701232655

YUAN W Z , LI R , SRINIVASAN M A , et al . Measurement of shear and slip with a GelSight tactile sensor [C ] // Proceedings of IEEE International Conference on Robotics and Automation . Seattle, WA, US : IEEE , 2015 : 304 - 311 .

WATANABE N , OBINATA G . Grip force control based on the degree of slippage using optical tactile sensor [C ] // Proceedings of International Symposium on Micro-NanoMechatronics and Human Science . Nagoya, Japan : IEEE , 2007 : 466 - 471 .

MUTHUSAMY R , HUANG X , ZWEIRI Y , et al . Neuromorphic event-based slip detection and suppression in robotic grasping and manipulation [J ] . IEEE Access , 2020 , 8 : 153364 - 153384 . DOI: 10.1109/Access.6287639 http://doi.org/10.1109/Access.6287639 https://ieeexplore.ieee.org/xpl/RecentIssue.jsp?punumber=6287639 https://ieeexplore.ieee.org/xpl/RecentIssue.jsp?punumber=6287639

WATERS I , JONES D , ALAZMANI A , et al . Utilising incipient slip for grasping automation in robot assisted surgery [J ] . IEEE Robotics and Automation Letters , 2021 , 7 ( 2 ): 1071 - 1078 . DOI: 10.1109/LRA.2021.3137554 http://doi.org/10.1109/LRA.2021.3137554 https://ieeexplore.ieee.org/document/9661354/ https://ieeexplore.ieee.org/document/9661354/

WATERS I , ALAZMANI A , CULMER P . Engineering incipient slip into surgical graspers to enhance grasp performance [J ] . IEEE Transactions on Medical Robotics and Bionics , 2020 , 2 ( 4 ): 541 - 544 . DOI: 10.1109/TMRB http://doi.org/10.1109/TMRB https://ieeexplore.ieee.org/xpl/RecentIssue.jsp?punumber=8253409 https://ieeexplore.ieee.org/xpl/RecentIssue.jsp?punumber=8253409

DONG S Y , MA D L , DONLON E , et al . Maintaining grasps within slipping bounds by monitoring incipient slip [C ] // Proceedings of International Conference on Robotics and Automation. Montreal, QC, Canada:IEEE , 2019 : 3818 - 3824 .

NARITA T , NAGAKARI S , CONUS W , et al . Theoretical derivation and realization of adaptive grasping based on rotational incipient slip detection [C ] // Proceedings of IEEE International Conference on Robotics and Automation . Paris, France : IEEE , 2020 : 531 - 537 .

CHEN W , KHAMIS H , BIRZNIEKS I , et al . Tactile sensors for friction estimation and incipient slip detection-toward dexterous robotic manipulation: a review [J ] . IEEE Sensors Journal , 2018 , 18 ( 22 ): 9049 - 9064 . DOI: 10.1109/JSEN.2018.2868340 http://doi.org/10.1109/JSEN.2018.2868340 https://ieeexplore.ieee.org/document/8453829/ https://ieeexplore.ieee.org/document/8453829/

MORITA N , NOGAMI H , HIGURASHI E , et al . Grasping force control for a robotic hand by slip detection using developed micro laser doppler velocimeter [J ] . Sensors , 2018 , 18 ( 2 ): 326 . DOI: 10.3390/s18020326 http://doi.org/10.3390/s18020326 http://www.mdpi.com/1424-8220/18/2/326 http://www.mdpi.com/1424-8220/18/2/326

DZITAC P , MAZID A M , IBRAHIM M Y , et al . Friction-based slip detection in robotic grasping [C ] // Proceedings of the 41st Annual Conference of the IEEE Industrial Electronics Society . Yokohama, Japan : IEEE , 2015 : 4871 - 4874 .

HASEGAWA H , MIZOGUCHI Y , TADAKUMA K , et al . Development of intelligent robot hand using proximity, contact and slip sensing [C ] // Proceedings of IEEE International Conference on Robotics and Automation . Anchorage, AK, US : IEEE , 2010 : 777 - 784 .

KENT B A , ENGEBERG E D . Grasp-dependent slip prevention for a dexterous artificial hand via wrist velocity feedback [J ] . International Journal of Humanoid Robotics , 2014 , 11 ( 2 ): 1450016 . DOI: 10.1142/S0219843614500169 http://doi.org/10.1142/S0219843614500169 https://www.worldscientific.com/doi/abs/10.1142/S0219843614500169 https://www.worldscientific.com/doi/abs/10.1142/S0219843614500169 A proportional controller is compared to a nonlinear backstepping controller with four different grasps for a dexterous anthropomorphic hand. A bioinspired grasp-dependent control scheme which autonomously modulates the grip force using wrist velocity feedback to prevent grasped object slip is also introduced. Four different grasp types are evaluated to illustrate how the wrist velocity feedback architecture must differ depending upon the manner in which objects are grasped. The backstepping controller can successfully increase grip force with wrist velocity in a robustly stable bioinspired fashion. Experimental results show that the developed backstepping controller improves the position tracking abilities for multiple periodic inputs, as well as reduces step input overshoot. The slip prevention capabilities of the backstepping controller are also demonstrated and compared to the proportional control scheme. Results of the slip prevention experiments show that both the grasp type and manipulator orientation with respect to gravity are significant factors in the performance of the controllers. The backstepping control scheme significantly improves slip prevention of grasped objects for multiple grasps and in two different orientations with respect to gravity.

ENGEBERG E D , MEEK S G . Adaptive sliding mode control for prosthetic hands to simultaneously prevent slip and minimize deformation of grasped objects [J ] . IEEE/ASME Transactions on Mechatronics , 2011 , 18 ( 1 ): 376 - 385 . DOI: 10.1109/TMECH.2011.2179061 http://doi.org/10.1109/TMECH.2011.2179061 http://ieeexplore.ieee.org/document/6119223/ http://ieeexplore.ieee.org/document/6119223/

DENG H , ZHANG Y , DUAN X G . Wavelet transformation-based fuzzy reflex control for prosthetic hands to prevent slip [J ] . IEEE Transactions on Industrial Electronics , 2016 , 64 ( 5 ): 3718 - 3726 . DOI: 10.1109/TIE.2016.2643603 http://doi.org/10.1109/TIE.2016.2643603 http://ieeexplore.ieee.org/document/7795157/ http://ieeexplore.ieee.org/document/7795157/

薛腾 , 刘文海 , 潘震宇 , 等 . 基于视觉感知和触觉先验知识学习的机器人稳定抓取 [J ] . 机器人 , 2021 , 43 ( 1 ): 1 - 8 . DOI: 10.13973/j.cnki.robot.200040 http://doi.org/10.13973/j.cnki.robot.200040 针对机器人抓取过程中需要实时评估抓取质量以动态调整抓取构型的问题，提出了基于触觉先验知识的机器人稳定抓取方法．首先，根据抓取过程中物体抵抗外界扰动的能力，提出了一种基于触觉信息的抓取质量评估方法．在此基础上，建立了视触觉联合数据集并学习触觉先验知识．其次，提出了融合视觉图像和触觉先验知识的稳定抓取构型生成方法．最后，在搭建的机器人抓取系统中对10种目标物体进行了实验验证．结果表明，相比传统的视觉方法，该方法的抓取稳定性提高了55%；针对已知物体和未知物体，稳定抓取成功率分别为86%和79%，体现了较好的泛化效果．

XUE T , LIU W H , PAN Z Y , et al . Stable robotic grasp based on visual perception and prior tactile knowledge learning [J ] . Robot , 2021 , 43 ( 1 ): 1 - 8 . (in Chinese) DOI: 10.13973/j.cnki.robot.200040 http://doi.org/10.13973/j.cnki.robot.200040 Considering the problem that the robot needs to estimate the grasp quality in real time to dynamically adjust the grasp configuration in grasping process, a stable robotic grasp method based on prior tactile knowledge learning is proposed. Firstly, a tactile information based method is put forward for evaluating grasp quality according to the capacity of resisting the external perturbations in grasping process. Based on it, a visual-tactile joint dampest is built, and the prior tactile knowledge is learned. Secondly, an architecture is proposed to generate stable grasp configurations by fusing the visual image and the prior tactile knowledge. Finally, an experimental verification with 10 kinds of objects is carried out on the proposed robotic grasp system. The results show that the grasp stability is improved by 55% with the proposed method over traditional vision-based methods, and the success rates of stable grasp are 86% and 79% respectively on known and unknown objects, demonstrating good generalization performance of the proposed method.

LEVINE S , PASTOR P , KRIZHEVSKY A , et al . Learning hand-eye coordination for robotic grasping with deep learning and large-scale data collection [J ] . The International Journal of Robotics Research , 2018 , 37 ( 4/5 ): 421 - 436 . DOI: 10.1177/0278364917710318 http://doi.org/10.1177/0278364917710318 http://journals.sagepub.com/doi/10.1177/0278364917710318 http://journals.sagepub.com/doi/10.1177/0278364917710318 We describe a learning-based approach to hand-eye coordination for robotic grasping from monocular images. To learn hand-eye coordination for grasping, we trained a large convolutional neural network to predict the probability that task-space motion of the gripper will result in successful grasps, using only monocular camera images independent of camera calibration or the current robot pose. This requires the network to observe the spatial relationship between the gripper and objects in the scene, thus learning hand-eye coordination. We then use this network to servo the gripper in real time to achieve successful grasps. We describe two large-scale experiments that we conducted on two separate robotic platforms. In the first experiment, about 800,000 grasp attempts were collected over the course of two months, using between 6 and 14 robotic manipulators at any given time, with differences in camera placement and gripper wear and tear. In the second experiment, we used a different robotic platform and 8 robots to collect a dataset consisting of over 900,000 grasp attempts. The second robotic platform was used to test transfer between robots, and the degree to which data from a different set of robots can be used to aid learning. Our experimental results demonstrate that our approach achieves effective real-time control, can successfully grasp novel objects, and corrects mistakes by continuous servoing. Our transfer experiment also illustrates that data from different robots can be combined to learn more reliable and effective grasping.

FUKUDA T , DARIO P , YANG G . Humanoid robotics-history, current state of the art, and challenges [J ] . Science Robotics , 2017 , 2 ( 13 ): eaar4043 . DOI: 10.1126/scirobotics.aar4043 http://doi.org/10.1126/scirobotics.aar4043 https://www.science.org/doi/10.1126/scirobotics.aar4043 https://www.science.org/doi/10.1126/scirobotics.aar4043 Humanoids represent one of the ultimate goals of robotics: to synthesize advances from many disciplines.