TacDexGrasp: 触覚フィードバックによる柔軟で堅牢な器用把持
TacDexGrasp: Compliant and Robust Dexterous Grasping with Tactile Feedback
触覚フィードバックとSOCP制御器を用いて、多指ハンドによる未知物体の把持安定性を向上させる手法を提案。回転滑りが並進滑りを誘発する性質を利用し、各指の接線力と法線力の比を摩擦係数以下に制御することで、並進・回転滑りを防ぐ。
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著者: Yubin Ke, Jiayi Chen, Hang Lv, Xiao Zhou, He Wang
分類: cs.RO
原文アブストラクト
Multi-fingered hands offer great potential for compliant and robust grasping of unknown objects, yet their high-dimensional force control presents a significant challenge. This work addresses two key problems: (1) distributing forces across multiple contacts to counteract an object's weight, and (2) preventing rotational slip caused by gravitational torque when a grasp is distant from the object's center of mass. We address these challenges via tactile feedback and a Second-Order Cone Programming (SOCP)-based controller, without explicit torque modeling or slip detection. Our key insights are (1) rotational slip inevitably induces translational slip at some contact points for a multi-fingered grasp, and (2) the ratio of tangential to normal force at each contact is an effective early stability indicator. By actively constraining this ratio for each finger below the estimated friction coefficient, our controller maintains grasp stability against both translational and rotational slip. Real-world experiments on 12 diverse objects demonstrate the robustness and compliance of our approach.
