利用触觉反馈实现多指抓握的自适应稳定，无需扭矩建模
TacDexGrasp: Compliant and Robust Dexterous Grasping with Tactile Feedback
- 基于触觉信号与二阶锥规划，动态分配多点接触力
- 在12种物体上实测成功避免滑动，抗重力扭矩扰动
- 通过切向/法向力比判断稳定性，适合复杂场景抓取
多指机械手在抓握未知物体时具备良好的柔顺性与鲁棒性潜力，但其高维力控仍面临挑战。本文解决两个关键问题：(1) 在多个接触点间合理分配力以平衡物体重量；(2) 当抓握点远离物体重心时，防止由重力扭矩引起的旋转滑动。提出方法结合触觉反馈与基于二阶锥规划（SOCP）的控制器，无需显式扭矩建模或滑移检测。核心洞察为：多指抓握中，旋转滑动必然导致某些接触点产生切向滑动；且各接触点切向力与法向力之比是有效的早期稳定指标。通过主动将该比值控制在估计摩擦系数以下，控制器可同时抑制平移与旋转滑动。在12种不同物体上的真实世界实验验证了方法的鲁棒性与柔顺性。
原文摘要 · Abstract (English)
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.
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