全手把持のためのリアルタイム力制御フレームワーク
Real-Time Force Regulation for Whole-Hand Dexterous Grasping
触覚センサなしで手全体の接触を幾何学的に推定し、摩擦制約やアクチュエータ限界を考慮して接触力をリアルタイムに再計算することで、外乱下でも把持を維持・再把持できる制御系を実現した。
詳しい要約
1. どんなもの？
2. 先行研究と比べてどこがすごい？
3. 技術・手法の肝は？
4. どうやって有効だと検証した？
5. 議論はある？
6. 次に読むべき論文は？
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著者: Sang Min Kim, Alexander Alexiev, Tzu-Yuan Lin, Sangbae Kim, Young Min Kim, Yonghyeon Lee
分類: cs.RO, eess.SY
原文アブストラクト
Robust dexterous grasping requires maintaining physical stability despite contacts interactively evolving across the entire hand. A precomputed force distribution can easily fail under object motion, modeling errors, or external disturbances. In this paper, we present a framework for real-time force regulation over dynamically changing whole-hand contacts. Our method geometrically estimates contacts across all hand links using a tracked object model and proprioception, without requiring tactile sensing at those contacts. It repeatedly recomputes the desired contact-force distribution subject to friction constraints, actuator limits, and an actuation-consistency constraint motivated by classical whole-limb force analysis. We integrate this force-regulation controller with reactive reaching, enabling the hand to acquire a grasp, maintain it under disturbances, and regrasp after losing the object. Simulation experiments without gravity demonstrate improved grasp retention over fixed-allocation and fingertip-only execution under controlled perturbations, while real-world experiments on a 27-DoF arm-hand system demonstrate grasp maintenance and recovery under human-applied disturbances as contacts evolve across the whole hand. Project page: https://sangminkim-99.github.io/reactive-grasp-whole-hand/