仿人灵巧手的稳定抓取方法研究综述

A Review of Stable Grasping Methods for Humanoid Dexterous Hands

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。

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.