Functionally Divided Manipulation Synergy for Controlling Multi-fingered Hands
Functionally Divided Manipulation Synergy for Controlling Multi-fingered Hands
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DOI：
10.1109/iros45743.2020.9341766
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发表时间：
2020-03
期刊：
影响因子：
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通讯作者：
Kazuki Higashi;Keisuke Koyama;R. Ozawa;K. Nagata;Weiwei Wan;K. Harada
中科院分区：
文献类型：
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作者：
Kazuki Higashi;Keisuke Koyama;R. Ozawa;K. Nagata;Weiwei Wan;K. Harada
协同提供了一个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不能执行手内操纵，例如，包括同时抓握和操纵物体的任务。锁定多指手的特定手指的位置对于手持操作任务是必不可少的，无论是握住物体还是固定不必要的手指。当使用传统的基于协同的控制来操纵对象时，这需要锁定一些手指，关节的协调受到严重限制，降低了手的灵活性。我们提出了一个功能划分的操纵协同（FDMS）方法，它提供了一个基于协同的控制，以实现降维和在手操纵。在FDMS中，首先，我们将手的每个手指的功能定义为“操纵”或“固定”。“然后，我们只对具有操作功能的手指进行协同控制，从而可以通过少量的控制输入实现灵巧的操作。此外，我们提出了协同切换框架作为一种方法，用于应用一个精细定义的FDMS顺序任务的变化。实验验证了该方法的有效性。
Synergy provides a practical approach for expressing various postures of a multi-fingered hand. However, a conventional synergy defined for reproducing grasping postures cannot perform in-hand manipulation, e.g., tasks that involve simultaneously grasping and manipulating an object. Locking the position of particular fingers of a multi-fingered hand is essential for in-hand manipulation tasks either to hold an object or to fix unnecessary fingers. 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 a few control inputs. Furthermore, we propose the Synergy Switching Framework as a method for applying a finely defined FDMS to sequential task changes. The effectiveness of our method is experimentally verified.