当前位置: X-MOL 学术arXiv.cs.RO › 论文详情
Our official English website, www.x-mol.net, welcomes your feedback! (Note: you will need to create a separate account there.)
Functionally Divided Manipulation Synergy for Controlling Multi-fingered Hands
arXiv - CS - Robotics Pub Date : 2020-03-26 , DOI: arxiv-2003.11699
Kazuki Higashi, Keisuke Koyama, Ryuta Ozawa, Kazuyuki Nagata, Weiwei Wan and Kensuke Harada

Synergy supplies a practical approach for expressing various postures of a multi-fingered hand. However, a conventional synergy defined for reproducing grasping postures cannot perform general-purpose tasks expected for a multi-fingered hand. Locking the position of particular fingers is essential for a multi-fingered hand to manipulate an object. When using conventional synergy based control to manipulate an object, which requires locking some fingers, the coordination of joints is heavily restricted, decreasing the dexterity of the hand. We propose a functionally divided manipulation synergy (FDMS) method, which provides a synergy-based control to achieves both dimensionality reduction and in-hand manipulation. In FDMS, first, we define the function of each finger of the hand as either "manipulation" or "fixed." Then, we apply synergy control only to the fingers having the manipulation function, so that dexterous manipulations can be realized with few control inputs. The effectiveness of our proposed approach is experimentally verified.

中文翻译:

控制多指手的功能分工协同

Synergy 提供了一种实用的方法来表达多指手的各种姿势。然而,为再现抓握姿势而定义的传统协同作用无法执行多指手预期的通用任务。锁定特定手指的位置对于多指手操纵物体至关重要。当使用传统的基于协同的控制来操纵物体时,需要锁定一些手指,关节的协调受到严重限制,降低了手的灵巧性。我们提出了一种功能划分的操作协同(FDMS)方法,该方法提供了基于协同的控制以实现降维和手动操作。在 FDMS 中,首先,我们将手的每个手指的功能定义为“操作”或“固定”。然后,我们只对具有操作功能的手指应用协同控制,从而可以在很少的控制输入下实现灵巧的操作。我们提出的方法的有效性得到了实验验证。
更新日期:2020-03-27
down
wechat
bug