arXiv:2607.16187cs.RO2026-07

一台可变形机器人,既能精细操作又能自主移动。

Handroid: Bridging Dexterous Hand and Humanoid

论文配图:Handroid: Bridging Dexterous Hand and Humanoid
图 1 · 摘自论文原文
  • 同一机械结构可切换为灵巧手或桌面人形机器人。
  • 27自由度系统支持抓取、操作和行走,实测完成复杂任务。
  • 适合研究形态可重构机器人与跨身体学习的团队。

灵巧手和人形机器人通常作为独立系统开发:前者擅长物体尺度的高接触操作,后者则能在人机环境中实现全身运动与交互。本文提出Handroid,一种桌面级可重构双形态机器人平台,将两者能力集成于单一系统中。该平台采用27自由度电驱动结构,高度0.33米,重2.05公斤,既可重构为拟人灵巧手(20自由度),也可变为含头、臂、腿的人形体(12自由度下肢用于行走)。平台提供统一控制与学习框架,支持手部遥操作、灵巧抓握、在手操作、人形行走、步态生成及关键帧动作部署。通过真实场景验证,其成功完成灵巧操作、强化学习行走、关键帧动作执行以及涉及形态重构、移动、对接和精细拾放的长时序任务。结果表明,Handroid是推进形态可重构机器人与跨形态学习的紧凑且可复现平台。

原文摘要 · Abstract (English)

Dexterous hands and humanoid robots are typically developed as distinct embodiments: the former enable contact-rich manipulation at the object scale, whereas the latter provide mobility and whole-body interaction in human-centered environments. We introduce \textbf{Handroid}, a desktop-scale dual-embodiment robot that integrates both capabilities within a single reconfigurable platform. Handroid reuses one 27-DoF electromechanical body as either a dexterous hand or a desktop humanoid, measuring 0.33 m in height and 2.05 kg in weight. In the dexterous hand embodiment, 20 DoFs form an anthropomorphic hand closely matching the kinematic structure of the human hand. In the humanoid embodiment, the same articulated modules are reconfigured into a humanoid with a head, arms, and legs, including a 12-DoF lower-limb structure for locomotion and whole-body motion. Handroid further provides a unified control and learning framework supporting hand teleoperation, dexterous grasping, in-hand manipulation, humanoid locomotion, gait generation, and interactive motion authoring. We validate the platform through real-world dexterous manipulation, reinforcement-learning-based locomotion, keyframe motion deployment, and a long-horizon task involving embodiment reconfiguration, locomotion, docking, and dexterous pick-and-place. These results position Handroid as a compact and reproducible platform for advancing morphology-reconfigurable robotics and cross-embodiment robot learning.

可重构机器人灵巧操作人形机器人

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