论文标题
功能分开的操纵协同作用用于控制多指手
Functionally Divided Manipulation Synergy for Controlling Multi-fingered Hands
论文作者
论文摘要
协同作用提供了一种实用方法来表达多指手的各种姿势。但是，定义用于重现抓握姿势的常规协同作用无法执行多指手的通用任务。锁定特定手指的位置对于操纵物体的多指手是必不可少的。当使用常规基于协同作用的控制来操纵物体（需要锁定某些手指）时，关节的协调受到严格限制，从而减少了手的灵巧性。我们提出了一种功能性分开的操纵协同（FDMS）方法，该方法提供了基于协同的控制，以实现降低维度降低和手持操作。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，我们仅将协同控制仅应用于具有操纵函数的手指，以便在几乎没有控制输入的情况下可以实现灵巧的操作。我们提出的方法的有效性经过实验验证。
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.
