Relative Contact Velocity-Controlled Hand-Object Mechanism for Dexterous Tool Manipulation

2026-09-21

AI Summary

研究通过定义手-物体机制及子组件，使用最小二乘法和互补滤波器开发了一个运动规划与接触估计框架，以实现通用多指机器人手灵巧操作工具。

Abstract

This work investigates how to enable general multi-finger robotic hands to perform the complete tool manipulation process, which entails picking up a tool, loading it into a suitable pose, and then wielding it. Inspired by human tool manipulation and mechanical design principles, we model the hand and the tool as a unified hand-object mechanism (HOM) composed of sub-assemblies. Specifically, we define a HOM as consisting of the hand, the object, and the generalized contact frames, allowing the HOM's motions to be expressed with the same set of Cartesian-space relative contact velocities, irrespective of the hand's kinematics and geometry. Then, we define a HOM's sub-assemblies as relative contact velocity and contact force constraints between fingers. Building on these definitions, we developed a lightweight and physically interpretable motion planning and contact estimation framework using least squares and a complementary filter. We evaluated our framework in simulation by teleoperating five different robotic hands. The results show that our framework enabled all five hands to execute the complete tool manipulation process, achieving dexterous behaviors even from identical, simple reference trajectories. Furthermore, the results showcase our framework's adaptability to different hands, tools, and tasks, enabled by its kinematic and geometric foundation.

Problem

• multi-finger robotic hands
• tool manipulation
• hand-object mechanism
• relative contact velocity
• dexterous behaviors

Innovation

• relative contact velocity
• hand-object mechanism (HOM)
• dexterous tool manipulation
• motion planning